vision_common Namespace Reference

Classes
class	BriskFeatureDetectorAndMatcher
struct	BriskFeatureDetectorAndMatcherParams
class	Distorter
class	FeatureDetectorAndMatcher
class	FeatureImage
struct	FeatureMatch
struct	FeaturePoint
class	FeatureTrack
class	FeatureTracker
struct	FeatureTrackerParams
class	FovDistorter
struct	GoodFeaturesToTrackDetectorParams
class	IdentityDistorter
class	InverseDepthMeasurement
class	LKOpticalFlowFeatureDetectorAndMatcher
struct	LKOpticalFlowFeatureDetectorAndMatcherParams
struct	PoseWithCovarianceAndInliers
class	RadDistorter
class	RadTanDistorter
struct	RansacPnPParams
class	RegistrationCorrespondences
struct	ReprojectionPoseEstimateParams
class	SpacedFeatureTrack
class	SpacedFeatureTracker
struct	SpacedFeatureTrackerParams
struct	StandstillParams
class	SurfFeatureDetectorAndMatcher
struct	SurfFeatureDetectorAndMatcherParams

Typedefs
using	FeatureMatches = std::vector< FeatureMatch >
using	FeatureId = int
using	ImageId = int
using	FeaturePoints = std::vector< FeaturePoint >

Functions
void	LoadBriskFeatureDetectorAndMatcherParams (config_reader::ConfigReader &config, BriskFeatureDetectorAndMatcherParams &params)
void	LoadGoodFeaturesToTrackDetectorParams (config_reader::ConfigReader &config, GoodFeaturesToTrackDetectorParams &params)
void	LoadLKOpticalFlowFeatureDetectorAndMatcherParams (config_reader::ConfigReader &config, LKOpticalFlowFeatureDetectorAndMatcherParams &params)
void	LoadSurfFeatureDetectorAndMatcherParams (config_reader::ConfigReader &config, SurfFeatureDetectorAndMatcherParams &params)
void	UndistortedPnP (const std::vector< cv::Point2d > &undistorted_image_points, const std::vector< cv::Point3d > &points_3d, const cv::Mat &intrinsics, const int pnp_method, cv::Mat &rotation, cv::Mat &translation)
std::vector< int >	RandomNIndices (const int num_possible_indices, const int num_sampled_indices)
template<typename DISTORTER >
int	Inliers (const std::vector< Eigen::Vector2d > &image_points, const std::vector< Eigen::Vector3d > &points_3d, const Eigen::Matrix3d &intrinsics, const Eigen::VectorXd &distortion, const Eigen::Isometry3d &pose_estimate, const double max_inlier_threshold, boost::optional< std::vector< int > & > inliers=boost::none)
template<typename T >
std::vector< T >	SampledValues (const std::vector< T > &values, const std::vector< int > &indices)
template<typename DISTORTER >
boost::optional< PoseWithCovarianceAndInliers >	RansacPnP (const std::vector< Eigen::Vector2d > &image_points, const std::vector< Eigen::Vector3d > &points_3d, const Eigen::Matrix3d &intrinsics, const Eigen::VectorXd &distortion, const RansacPnPParams &params)
template<typename DISTORTER >
boost::optional< PoseWithCovarianceAndInliers >	ReprojectionPoseEstimate (const std::vector< Eigen::Vector2d > &image_points, const std::vector< Eigen::Vector3d > &points_3d, const Eigen::Vector2d &focal_lengths, const Eigen::Vector2d &principal_points, const Eigen::VectorXd &distortion, const ReprojectionPoseEstimateParams &params)
template<typename DISTORTER >
boost::optional< PoseWithCovarianceAndInliers >	ReprojectionPoseEstimate (const std::vector< Eigen::Vector2d > &image_points, const std::vector< Eigen::Vector3d > &points_3d, const Eigen::Matrix3d &intrinsics, const Eigen::VectorXd &distortion, const ReprojectionPoseEstimateParams &params)
template<typename DISTORTER >
boost::optional< PoseWithCovarianceAndInliers >	ReprojectionPoseEstimateWithInitialEstimate (const std::vector< Eigen::Vector2d > &image_points, const std::vector< Eigen::Vector3d > &points_3d, const Eigen::Vector2d &focal_lengths, const Eigen::Vector2d &principal_points, const Eigen::VectorXd &distortion, const ReprojectionPoseEstimateParams &params, const Eigen::Isometry3d &initial_estimate, const std::vector< int > &initial_inliers)
template<typename DISTORTER >
boost::optional< PoseWithCovarianceAndInliers >	ReprojectionPoseEstimateWithInitialEstimate (const std::vector< Eigen::Vector2d > &image_points, const std::vector< Eigen::Vector3d > &points_3d, const Eigen::Matrix3d &intrinsics, const Eigen::VectorXd &distortion, const ReprojectionPoseEstimateParams &params, const Eigen::Isometry3d &initial_estimate, const std::vector< int > &initial_inliers)
void	SetFocalLengths (const Eigen::Vector2d &focal_lengths, Eigen::Matrix3d &intrinsics)
void	SetPrincipalPoints (const Eigen::Vector2d &principal_points, Eigen::Matrix3d &intrinsics)
LKOpticalFlowFeatureDetectorAndMatcherParams	DefaultLKOpticalFlowFeatureDetectorAndMatcherParams ()
cv::Mat	MarkerImage (const int row_spacing, const int col_spacing, int &num_markers_added, const cv::Point2i &offset=cv::Point2i(0, 0))
int	AddMarkers (const int row_spacing, const int col_spacing, cv::Mat &image, const cv::Point2i &offset=cv::Point2i(0, 0))
optimization_common::OptimizationParams	DefaultOptimizationParams ()
RansacPnPParams	DefaultRansacPnPParams ()
ReprojectionPoseEstimateParams	DefaultReprojectionPoseEstimateParams ()
Eigen::VectorXd	RandomFovDistortion ()
Eigen::VectorXd	RandomRadDistortion ()
Eigen::VectorXd	RandomRadTanDistortion ()
std::vector< Eigen::Isometry3d >	EvenlySpacedTargetPoses (const int num_rows=3, const int num_cols=5, const int num_y_levels=2)
std::vector< Eigen::Vector3d >	TargetPoints (const int points_per_row, const int points_per_col, const double row_spacing=0.1, const double col_spacing=0.1)
template<typename T >
Eigen::Matrix< T, 2, 1 >	RelativeCoordinates (const Eigen::Matrix< T, 2, 1 > &absolute_point, const Eigen::Matrix< T, 3, 3 > &intrinsics)
template<typename T >
Eigen::Matrix< T, 2, 1 >	AbsoluteCoordinates (const Eigen::Matrix< T, 2, 1 > &relative_point, const Eigen::Matrix< T, 3, 3 > &intrinsics)
Eigen::Vector3d	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	FocalLengths (const Eigen::Matrix3d &intrinsics)
Eigen::Vector2d	PrincipalPoints (const Eigen::Matrix3d &intrinsics)
Eigen::Vector2d	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	ProjectWithDistortion (const Eigen::Vector3d &cam_t_point, const Eigen::Matrix3d &intrinsics, const Eigen::VectorXd &distortion_params)
Eigen::Isometry3d	Isometry3d (const cv::Mat &rodrigues_rotation_cv, const cv::Mat &translation_cv)
double	AverageDistanceFromMean (const std::vector< FeaturePoint > &points)
double	AverageDistanceFromMean (const std::vector< localization_common::TimestampedValue< FeaturePoint >> &timestamped_points)
template<typename FeatureTracksMapType >
bool	Standstill (const FeatureTracksMapType &feature_tracks, const StandstillParams &params)
double	AverageDistanceFromMean (const std::vector< lc::TimestampedValue< FeaturePoint >> &timestamped_points)

Typedef Documentation

FeatureId

using vision_common::FeatureId = typedef int

FeatureMatches

using vision_common::FeatureMatches = typedef std::vector<FeatureMatch>

FeaturePoints

using vision_common::FeaturePoints = typedef std::vector<FeaturePoint>

ImageId

using vision_common::ImageId = typedef int

Function Documentation

AbsoluteCoordinates()

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
	)

AddMarkers()

int vision_common::AddMarkers	(	const int	row_spacing,
		const int	col_spacing,
		cv::Mat &	image,
		const cv::Point2i &	offset = cv::Point2i(0, 0)
	)

AverageDistanceFromMean() [1/3]

double vision_common::AverageDistanceFromMean

(

const std::vector< FeaturePoint > &

points

)

AverageDistanceFromMean() [2/3]

double vision_common::AverageDistanceFromMean

(

const std::vector< lc::TimestampedValue< FeaturePoint >> &

timestamped_points

)

AverageDistanceFromMean() [3/3]

double vision_common::AverageDistanceFromMean

(

const std::vector< localization_common::TimestampedValue< FeaturePoint >> &

timestamped_points

)

Backproject()

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
	)

DefaultLKOpticalFlowFeatureDetectorAndMatcherParams()

LKOpticalFlowFeatureDetectorAndMatcherParams vision_common::DefaultLKOpticalFlowFeatureDetectorAndMatcherParams

(

)

DefaultOptimizationParams()

optimization_common::OptimizationParams vision_common::DefaultOptimizationParams

(

)

DefaultRansacPnPParams()

RansacPnPParams vision_common::DefaultRansacPnPParams

(

)

DefaultReprojectionPoseEstimateParams()

ReprojectionPoseEstimateParams vision_common::DefaultReprojectionPoseEstimateParams

(

)

EvenlySpacedTargetPoses()

std::vector< Eigen::Isometry3d > vision_common::EvenlySpacedTargetPoses	(	const int	num_rows = 3,
		const int	num_cols = 5,
		const int	num_y_levels = 2
	)

FocalLengths()

Eigen::Vector2d vision_common::FocalLengths

(

const Eigen::Matrix3d &

intrinsics

)

Inliers()

template<typename DISTORTER >

int vision_common::Inliers	(	const std::vector< Eigen::Vector2d > &	image_points,
		const std::vector< Eigen::Vector3d > &	points_3d,
		const Eigen::Matrix3d &	intrinsics,
		const Eigen::VectorXd &	distortion,
		const Eigen::Isometry3d &	pose_estimate,
		const double	max_inlier_threshold,
		boost::optional< std::vector< int > & >	inliers = boost::none
	)

Isometry3d()

Eigen::Isometry3d vision_common::Isometry3d	(	const cv::Mat &	rodrigues_rotation_cv,
		const cv::Mat &	translation_cv
	)

LoadBriskFeatureDetectorAndMatcherParams()

void vision_common::LoadBriskFeatureDetectorAndMatcherParams	(	config_reader::ConfigReader &	config,
		BriskFeatureDetectorAndMatcherParams &	params
	)

LoadGoodFeaturesToTrackDetectorParams()

void vision_common::LoadGoodFeaturesToTrackDetectorParams	(	config_reader::ConfigReader &	config,
		GoodFeaturesToTrackDetectorParams &	params
	)

LoadLKOpticalFlowFeatureDetectorAndMatcherParams()

void vision_common::LoadLKOpticalFlowFeatureDetectorAndMatcherParams	(	config_reader::ConfigReader &	config,
		LKOpticalFlowFeatureDetectorAndMatcherParams &	params
	)

LoadSurfFeatureDetectorAndMatcherParams()

void vision_common::LoadSurfFeatureDetectorAndMatcherParams	(	config_reader::ConfigReader &	config,
		SurfFeatureDetectorAndMatcherParams &	params
	)

MarkerImage()

cv::Mat vision_common::MarkerImage	(	const int	row_spacing,
		const int	col_spacing,
		int &	num_markers_added,
		const cv::Point2i &	offset = cv::Point2i(0, 0)
	)

PrincipalPoints()

Eigen::Vector2d vision_common::PrincipalPoints

(

const Eigen::Matrix3d &

intrinsics

)

Project()

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
	)

ProjectWithDistortion()

template<typename DISTORTER >

Eigen::Vector2d vision_common::ProjectWithDistortion	(	const Eigen::Vector3d &	cam_t_point,
		const Eigen::Matrix3d &	intrinsics,
		const Eigen::VectorXd &	distortion_params
	)

RandomFovDistortion()

Eigen::VectorXd vision_common::RandomFovDistortion

(

)

RandomNIndices()

std::vector< int > vision_common::RandomNIndices	(	const int	num_possible_indices,
		const int	num_sampled_indices
	)

RandomRadDistortion()

Eigen::VectorXd vision_common::RandomRadDistortion

(

)

RandomRadTanDistortion()

Eigen::VectorXd vision_common::RandomRadTanDistortion

(

)

RansacPnP()

template<typename DISTORTER >

boost::optional< PoseWithCovarianceAndInliers > vision_common::RansacPnP	(	const std::vector< Eigen::Vector2d > &	image_points,
		const std::vector< Eigen::Vector3d > &	points_3d,
		const Eigen::Matrix3d &	intrinsics,
		const Eigen::VectorXd &	distortion,
		const RansacPnPParams &	params
	)

RelativeCoordinates()

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
	)

ReprojectionPoseEstimate() [1/2]

template<typename DISTORTER >

boost::optional< PoseWithCovarianceAndInliers > vision_common::ReprojectionPoseEstimate	(	const std::vector< Eigen::Vector2d > &	image_points,
		const std::vector< Eigen::Vector3d > &	points_3d,
		const Eigen::Matrix3d &	intrinsics,
		const Eigen::VectorXd &	distortion,
		const ReprojectionPoseEstimateParams &	params
	)

ReprojectionPoseEstimate() [2/2]

template<typename DISTORTER >

boost::optional< PoseWithCovarianceAndInliers > vision_common::ReprojectionPoseEstimate	(	const std::vector< Eigen::Vector2d > &	image_points,
		const std::vector< Eigen::Vector3d > &	points_3d,
		const Eigen::Vector2d &	focal_lengths,
		const Eigen::Vector2d &	principal_points,
		const Eigen::VectorXd &	distortion,
		const ReprojectionPoseEstimateParams &	params
	)

ReprojectionPoseEstimateWithInitialEstimate() [1/2]

template<typename DISTORTER >

boost::optional< PoseWithCovarianceAndInliers > vision_common::ReprojectionPoseEstimateWithInitialEstimate	(	const std::vector< Eigen::Vector2d > &	image_points,
		const std::vector< Eigen::Vector3d > &	points_3d,
		const Eigen::Matrix3d &	intrinsics,
		const Eigen::VectorXd &	distortion,
		const ReprojectionPoseEstimateParams &	params,
		const Eigen::Isometry3d &	initial_estimate,
		const std::vector< int > &	initial_inliers
	)

ReprojectionPoseEstimateWithInitialEstimate() [2/2]

template<typename DISTORTER >

boost::optional< PoseWithCovarianceAndInliers > vision_common::ReprojectionPoseEstimateWithInitialEstimate	(	const std::vector< Eigen::Vector2d > &	image_points,
		const std::vector< Eigen::Vector3d > &	points_3d,
		const Eigen::Vector2d &	focal_lengths,
		const Eigen::Vector2d &	principal_points,
		const Eigen::VectorXd &	distortion,
		const ReprojectionPoseEstimateParams &	params,
		const Eigen::Isometry3d &	initial_estimate,
		const std::vector< int > &	initial_inliers
	)

SampledValues()

template<typename T >

std::vector< T > vision_common::SampledValues	(	const std::vector< T > &	values,
		const std::vector< int > &	indices
	)

SetFocalLengths()

void vision_common::SetFocalLengths	(	const Eigen::Vector2d &	focal_lengths,
		Eigen::Matrix3d &	intrinsics
	)

SetPrincipalPoints()

void vision_common::SetPrincipalPoints	(	const Eigen::Vector2d &	principal_points,
		Eigen::Matrix3d &	intrinsics
	)

Standstill()

template<typename FeatureTracksMapType >

bool vision_common::Standstill	(	const FeatureTracksMapType &	feature_tracks,
		const StandstillParams &	params
	)

TargetPoints()

std::vector< Eigen::Vector3d > vision_common::TargetPoints	(	const int	points_per_row,
		const int	points_per_col,
		const double	row_spacing = 0.1,
		const double	col_spacing = 0.1
	)

UndistortedPnP()

void vision_common::UndistortedPnP	(	const std::vector< cv::Point2d > &	undistorted_image_points,
		const std::vector< cv::Point3d > &	points_3d,
		const cv::Mat &	intrinsics,
		const int	pnp_method,
		cv::Mat &	rotation,
		cv::Mat &	translation
	)