utilities.h File Reference

#include <localization_common/timestamped_set.h>
#include <vision_common/feature_point.h>
#include <vision_common/standstill_params.h>
#include <Eigen/Geometry>
#include <gtsam/base/Matrix.h>
#include <opencv2/core/eigen.hpp>
#include <opencv2/opencv.hpp>
#include <vector>

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Namespaces
	vision_common

Functions
template<typename T >
Eigen::Matrix< T, 2, 1 >	vision_common::RelativeCoordinates (const Eigen::Matrix< T, 2, 1 > &absolute_point, const Eigen::Matrix< T, 3, 3 > &intrinsics)
template<typename T >
Eigen::Matrix< T, 2, 1 >	vision_common::AbsoluteCoordinates (const Eigen::Matrix< T, 2, 1 > &relative_point, const Eigen::Matrix< T, 3, 3 > &intrinsics)
Eigen::Vector3d	vision_common::Backproject (const Eigen::Vector2d &measurement, const Eigen::Matrix3d &intrinsics, const double depth, gtsam::OptionalJacobian< 3, 1 > d_backprojected_point_d_depth=boost::none)
Eigen::Vector2d	vision_common::FocalLengths (const Eigen::Matrix3d &intrinsics)
Eigen::Vector2d	vision_common::PrincipalPoints (const Eigen::Matrix3d &intrinsics)
Eigen::Vector2d	vision_common::Project (const Eigen::Vector3d &cam_t_point, const Eigen::Matrix3d &intrinsics, gtsam::OptionalJacobian< 2, 3 > d_projected_point_d_cam_t_point=boost::none)
template<typename DISTORTER >
Eigen::Vector2d	vision_common::ProjectWithDistortion (const Eigen::Vector3d &cam_t_point, const Eigen::Matrix3d &intrinsics, const Eigen::VectorXd &distortion_params)
Eigen::Isometry3d	vision_common::Isometry3d (const cv::Mat &rodrigues_rotation_cv, const cv::Mat &translation_cv)
double	vision_common::AverageDistanceFromMean (const std::vector< FeaturePoint > &points)
double	vision_common::AverageDistanceFromMean (const std::vector< localization_common::TimestampedValue< FeaturePoint >> &timestamped_points)
template<typename FeatureTracksMapType >
bool	vision_common::Standstill (const FeatureTracksMapType &feature_tracks, const StandstillParams &params)