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/* This file is part of RGBDSLAM.
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 * 
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 * RGBDSLAM is free software: you can redistribute it and/or modify
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 * it under the terms of the GNU General Public License as published by
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 * the Free Software Foundation, either version 3 of the License, or
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 * (at your option) any later version.
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 * 
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 * RGBDSLAM is distributed in the hope that it will be useful,
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 * but WITHOUT ANY WARRANTY; without even the implied warranty of
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 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 * GNU General Public License for more details.
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 * 
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 * You should have received a copy of the GNU General Public License
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 * along with RGBDSLAM.  If not, see <http://www.gnu.org/licenses/>.
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 */
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#include <QMatrix4x4>
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void printTransform(const char* name, const tf::Transform t) ;
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void printQMatrix4x4(const char* name, const QMatrix4x4& m);
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QMatrix4x4 g2o2QMatrix(const g2o::SE3Quat se3) ;
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tf::Transform g2o2TF(const g2o::SE3Quat se3) ;
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void logTransform(QTextStream& out, const tf::Transform& t, double timestamp, const char* label = NULL);
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void transformAndAppendPointCloud (const pointcloud_type &cloud_in, pointcloud_type &cloud_to_append_to,
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                                   const tf::Transform transformation, float Max_Depth);
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geometry_msgs::Point pointInWorldFrame(const Eigen::Vector4f& point3d, g2o::SE3Quat transf);
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// true if translation > 10cm or largest euler-angle>5 deg
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// used to decide if the camera has moved far enough to generate a new nodes
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bool isBigTrafo(const Eigen::Matrix4f& t);
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bool isBigTrafo(const g2o::SE3Quat& t);
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/// get euler angles from 4x4 homogenous
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void mat2RPY(const Eigen::Matrix4f& t, double& roll, double& pitch, double& yaw);
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/// get translation-distance from 4x4 homogenous
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void mat2dist(const Eigen::Matrix4f& t, double &dist);
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//bool overlappingViews(LoadedEdge3D edge);
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//bool triangleRayIntersection(Eigen::Vector3d triangle1,Eigen::Vector3d triangle2, Eigen::Vector3d ray_origin, Eigen::Vector3d ray);
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g2o::SE3Quat eigen2G2O(const Eigen::Matrix4d eigen_mat);
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void mat2components(const Eigen::Matrix4f& t, double& roll, double& pitch, double& yaw, double& dist);
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/// Creates Feature Detector Objects accordingt to the type.
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/// Possible detectorTypes: FAST, STAR, SIFT, SURF, GFTT
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/// FAST and SURF are the self-adjusting versions (see http://opencv.willowgarage.com/documentation/cpp/features2d_common_interfaces_of_feature_detectors.html#DynamicAdaptedFeatureDetector)
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cv::FeatureDetector* createDetector( const std::string& detectorType );
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/// Create an object to extract features at keypoints. The Exctractor is passed to the Node constructor and must be the same for each node.
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cv::DescriptorExtractor* createDescriptorExtractor( const std::string& descriptorType );
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///Convert the CV_32FC1 image to CV_8UC1 with a fixed scale factor
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void depthToCV8UC1(const cv::Mat& float_img, cv::Mat& mono8_img);
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///Return the macro string for the cv::Mat type integer
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std::string openCVCode2String(unsigned int code);
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///Print Type and size of image
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void printMatrixInfo(cv::Mat& image);