utils.cpp File Reference

Implementation for utils.h. More...

#include "utils.h"
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include <boost/random.hpp>

Include dependency graph for utils.cpp:

Go to the source code of this file.

Functions
ImageMatchVec	buildImageMatchesFrom3dPoints (const SE3 &T_wc1, const SE3 &T_wc2, const Points3dSTL &points)
double	calculateVolume (const Vector3d &upper_left_deep, const Vector3d &bottom_right_shallow)
void	generateRandomScene (const Vector3d &upper_left_deep, const Vector3d &bottom_right_shallow, double target_num_vec, Points3dSTL &points)
	XXX move to testutils.
void	generateRandomTrajectory (const Vector3d &upper_left_deep, const Vector3d &bottom_right_shallow, int num_stops, ALIGNED< SE3 >::vector &transforms)
	XXX move to testutils.
ImageMatchVec	imageMatchCoords (const vector< cv::KeyPoint > &tkpts, const vector< cv::KeyPoint > &qkpts, const std::vector< cv::DMatch > &matches)
bool	isApprox (double num, double target_num, double error)
void	points3dSTLToPointMatrix (const Points3dSTL &pts, PointMatrix &ptmat)
Points3dSTL	projectPoints (SE3 T_sd, const Points3dSTL &points)
Variables
boost::mt19937	gen
boost::mt19937	rng_mt19937
	pseudorandom number generator.

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Detailed Description

Implementation for utils.h.

Author:

Jiri Divis

Definition in file utils.cpp.

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Function Documentation

ImageMatchVec buildImageMatchesFrom3dPoints	(	const SE3 &	T_wc1,
		const SE3 &	T_wc2,
		const Points3dSTL &	points
	)

Definition at line 39 of file utils.cpp.

double calculateVolume	(	const Vector3d &	upper_left_deep,
		const Vector3d &	bottom_right_shallow
	)

Definition at line 58 of file utils.cpp.

void generateRandomScene	(	const Vector3d &	upper_left_deep,
		const Vector3d &	bottom_right_shallow,
		double	target_num_vec,
		Points3dSTL &	points
	)

XXX move to testutils.

Definition at line 65 of file utils.cpp.

void generateRandomTrajectory	(	const Vector3d &	upper_left_deep,
		const Vector3d &	bottom_right_shallow,
		int	num_stops,
		ALIGNED< SE3 >::vector &	transforms
	)

XXX move to testutils.

Definition at line 90 of file utils.cpp.

ImageMatchVec imageMatchCoords	(	const vector< cv::KeyPoint > &	tkpts,
		const vector< cv::KeyPoint > &	qkpts,
		const std::vector< cv::DMatch > &	matches
	)

Definition at line 19 of file utils.cpp.

bool isApprox	(	double	num,
		double	target_num,
		double	error
	)

Definition at line 107 of file utils.cpp.

void points3dSTLToPointMatrix	(	const Points3dSTL &	pts,
		PointMatrix &	ptmat
	)

Definition at line 33 of file utils.cpp.

Points3dSTL projectPoints	(	SE3	T_sd,
		const Points3dSTL &	points
	)

Definition at line 48 of file utils.cpp.

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Variable Documentation

boost::mt19937 gen

Definition at line 16 of file utils.cpp.

boost::mt19937 rng_mt19937

pseudorandom number generator.

Definition at line 17 of file utils.cpp.