Quadrotor

/* This file is part of RGBDSLAM.

 * 

 * RGBDSLAM is free software: you can redistribute it and/or modify

 * it under the terms of the GNU General Public License as published by

 * the Free Software Foundation, either version 3 of the License, or

 * (at your option) any later version.

 * 

 * RGBDSLAM is distributed in the hope that it will be useful,

 * but WITHOUT ANY WARRANTY; without even the implied warranty of

 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

 * GNU General Public License for more details.

 * 

 * You should have received a copy of the GNU General Public License

 * along with RGBDSLAM.  If not, see <http://www.gnu.org/licenses/>.

 */

#include <QMatrix4x4>

void printTransform(const char* name, const tf::Transform t) ;

void printQMatrix4x4(const char* name, const QMatrix4x4& m);

QMatrix4x4 g2o2QMatrix(const g2o::SE3Quat se3) ;

tf::Transform g2o2TF(const g2o::SE3Quat se3) ;

void logTransform(QTextStream& out, const tf::Transform& t, double timestamp, const char* label = NULL);

void transformAndAppendPointCloud (const pointcloud_type &cloud_in, pointcloud_type &cloud_to_append_to,

                                   const tf::Transform transformation, float Max_Depth);

geometry_msgs::Point pointInWorldFrame(const Eigen::Vector4f& point3d, g2o::SE3Quat transf);

// true if translation > 10cm or largest euler-angle>5 deg

// used to decide if the camera has moved far enough to generate a new nodes

bool isBigTrafo(const Eigen::Matrix4f& t);

bool isBigTrafo(const g2o::SE3Quat& t);

/// get euler angles from 4x4 homogenous

void mat2RPY(const Eigen::Matrix4f& t, double& roll, double& pitch, double& yaw);

/// get translation-distance from 4x4 homogenous

void mat2dist(const Eigen::Matrix4f& t, double &dist);

//bool overlappingViews(LoadedEdge3D edge);

//bool triangleRayIntersection(Eigen::Vector3d triangle1,Eigen::Vector3d triangle2, Eigen::Vector3d ray_origin, Eigen::Vector3d ray);

g2o::SE3Quat eigen2G2O(const Eigen::Matrix4d eigen_mat);

void mat2components(const Eigen::Matrix4f& t, double& roll, double& pitch, double& yaw, double& dist);

/// Creates Feature Detector Objects accordingt to the type.

/// Possible detectorTypes: FAST, STAR, SIFT, SURF, GFTT

/// FAST and SURF are the self-adjusting versions (see http://opencv.willowgarage.com/documentation/cpp/features2d_common_interfaces_of_feature_detectors.html#DynamicAdaptedFeatureDetector)

cv::FeatureDetector* createDetector( const std::string& detectorType );

/// Create an object to extract features at keypoints. The Exctractor is passed to the Node constructor and must be the same for each node.

cv::DescriptorExtractor* createDescriptorExtractor( const std::string& descriptorType );

///Convert the CV_32FC1 image to CV_8UC1 with a fixed scale factor

void depthToCV8UC1(const cv::Mat& float_img, cv::Mat& mono8_img);

///Return the macro string for the cv::Mat type integer

std::string openCVCode2String(unsigned int code);

///Print Type and size of image

void printMatrixInfo(cv::Mat& image);