rtabmap::EpipolarGeometry Class Reference

#include <EpipolarGeometry.h>

List of all members.

Public Member Functions
bool	check (const Signature *ssA, const Signature *ssB)
	EpipolarGeometry (const ParametersMap &parameters=ParametersMap())
int	getMatchCountMinAccepted () const
double	getRansacParam1 () const
double	getRansacParam2 () const
void	parseParameters (const ParametersMap &parameters)
void	setMatchCountMinAccepted (int matchCountMinAccepted)
void	setRansacParam1 (double ransacParam1)
void	setRansacParam2 (double ransacParam2)
virtual	~EpipolarGeometry ()
Static Public Member Functions
static void	findEpipolesFromF (const cv::Mat &fundamentalMatrix, cv::Vec3d &e1, cv::Vec3d &e2)
static cv::Mat	findFFromCalibratedStereoCameras (double fx, double fy, double cx, double cy, double Tx, double Ty)
static cv::Mat	findFFromWords (const std::list< std::pair< int, std::pair< cv::KeyPoint, cv::KeyPoint > > > &pairs, std::vector< uchar > &status, double ransacParam1=3.0, double ransacParam2=0.99)
static int	findPairs (const std::map< int, cv::KeyPoint > &wordsA, const std::map< int, cv::KeyPoint > &wordsB, std::list< std::pair< int, std::pair< cv::KeyPoint, cv::KeyPoint > > > &pairs)
static int	findPairs (const std::multimap< int, cv::KeyPoint > &wordsA, const std::multimap< int, cv::KeyPoint > &wordsB, std::list< std::pair< int, std::pair< cv::KeyPoint, cv::KeyPoint > > > &pairs)
static int	findPairsAll (const std::multimap< int, cv::KeyPoint > &wordsA, const std::multimap< int, cv::KeyPoint > &wordsB, std::list< std::pair< int, std::pair< cv::KeyPoint, cv::KeyPoint > > > &pairs)
static int	findPairsUnique (const std::multimap< int, cv::KeyPoint > &wordsA, const std::multimap< int, cv::KeyPoint > &wordsB, std::list< std::pair< int, std::pair< cv::KeyPoint, cv::KeyPoint > > > &pairs)
static cv::Mat	findPFromE (const cv::Mat &E, const cv::Mat &x, const cv::Mat &xp)
static void	findRTFromP (const cv::Mat &p, cv::Mat &r, cv::Mat &t)
static cv::Mat	iterativeLinearLSTriangulation (cv::Point3d u, const cv::Matx34d &P, cv::Point3d u1, const cv::Matx34d &P1)
static cv::Mat	linearLSTriangulation (cv::Point3d u, cv::Matx34d P, cv::Point3d u1, cv::Matx34d P1)
static double	triangulatePoints (const cv::Mat &pt_set1, const cv::Mat &pt_set2, const cv::Mat &P, const cv::Mat &P1, pcl::PointCloud< pcl::PointXYZ >::Ptr &pointcloud, std::vector< double > &reproj_errors)
Private Attributes
int	_matchCountMinAccepted
double	_ransacParam1
double	_ransacParam2

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Detailed Description

Definition at line 44 of file EpipolarGeometry.h.

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Constructor & Destructor Documentation

rtabmap::EpipolarGeometry::EpipolarGeometry

(

const ParametersMap &

parameters = ParametersMap()

)

Definition at line 46 of file EpipolarGeometry.cpp.

rtabmap::EpipolarGeometry::~EpipolarGeometry

(

)

[virtual]

Definition at line 54 of file EpipolarGeometry.cpp.

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Member Function Documentation

bool rtabmap::EpipolarGeometry::check	(	const Signature *	ssA,
		const Signature *	ssB
	)

Definition at line 65 of file EpipolarGeometry.cpp.

void rtabmap::EpipolarGeometry::findEpipolesFromF	(	const cv::Mat &	fundamentalMatrix,
		cv::Vec3d &	e1,
		cv::Vec3d &	e2
	)		[static]

Definition at line 100 of file EpipolarGeometry.cpp.

cv::Mat rtabmap::EpipolarGeometry::findFFromCalibratedStereoCameras	(	double	fx,
		double	fy,
		double	cx,
		double	cy,
		double	Tx,
		double	Ty
	)		[static]

Definition at line 387 of file EpipolarGeometry.cpp.

cv::Mat rtabmap::EpipolarGeometry::findFFromWords	(	const std::list< std::pair< int, std::pair< cv::KeyPoint, cv::KeyPoint > > > &	pairs,
		std::vector< uchar > &	status,
		double	ransacParam1 = 3.0,
		double	ransacParam2 = 0.99
	)		[static]

Definition at line 292 of file EpipolarGeometry.cpp.

int rtabmap::EpipolarGeometry::findPairs	(	const std::map< int, cv::KeyPoint > &	wordsA,
		const std::map< int, cv::KeyPoint > &	wordsB,
		std::list< std::pair< int, std::pair< cv::KeyPoint, cv::KeyPoint > > > &	pairs
	)		[static]

if a=[1 2 3 4 6], b=[1 2 4 5 6], results= [(1,1) (2,2) (4,4) (6,6)] realPairsCount = 4

Definition at line 413 of file EpipolarGeometry.cpp.

int rtabmap::EpipolarGeometry::findPairs	(	const std::multimap< int, cv::KeyPoint > &	wordsA,
		const std::multimap< int, cv::KeyPoint > &	wordsB,
		std::list< std::pair< int, std::pair< cv::KeyPoint, cv::KeyPoint > > > &	pairs
	)		[static]

if a=[1 2 3 4 6 6], b=[1 1 2 4 5 6 6], results= [(1,1a) (2,2) (4,4) (6a,6a) (6b,6b)] realPairsCount = 5

Definition at line 436 of file EpipolarGeometry.cpp.

int rtabmap::EpipolarGeometry::findPairsAll	(	const std::multimap< int, cv::KeyPoint > &	wordsA,
		const std::multimap< int, cv::KeyPoint > &	wordsB,
		std::list< std::pair< int, std::pair< cv::KeyPoint, cv::KeyPoint > > > &	pairs
	)		[static]

if a=[1 2 3 4 6 6], b=[1 1 2 4 5 6 6], results= [(1,1a) (1,1b) (2,2) (4,4) (6a,6a) (6a,6b) (6b,6a) (6b,6b)] realPairsCount = 5

Definition at line 494 of file EpipolarGeometry.cpp.

int rtabmap::EpipolarGeometry::findPairsUnique	(	const std::multimap< int, cv::KeyPoint > &	wordsA,
		const std::multimap< int, cv::KeyPoint > &	wordsB,
		std::list< std::pair< int, std::pair< cv::KeyPoint, cv::KeyPoint > > > &	pairs
	)		[static]

if a=[1 2 3 4 6 6], b=[1 1 2 4 5 6 6], results= [(2,2) (4,4)] realPairsCount = 5

Definition at line 464 of file EpipolarGeometry.cpp.

cv::Mat rtabmap::EpipolarGeometry::findPFromE	(	const cv::Mat &	E,
		const cv::Mat &	x,
		const cv::Mat &	xp
	)		[static]

Definition at line 179 of file EpipolarGeometry.cpp.

void rtabmap::EpipolarGeometry::findRTFromP	(	const cv::Mat &	p,
		cv::Mat &	r,
		cv::Mat &	t
	)		[static]

Definition at line 375 of file EpipolarGeometry.cpp.

int rtabmap::EpipolarGeometry::getMatchCountMinAccepted

(

)

const [inline]

Definition at line 52 of file EpipolarGeometry.h.

double rtabmap::EpipolarGeometry::getRansacParam1

(

)

const [inline]

Definition at line 53 of file EpipolarGeometry.h.

double rtabmap::EpipolarGeometry::getRansacParam2

(

)

const [inline]

Definition at line 54 of file EpipolarGeometry.h.

cv::Mat rtabmap::EpipolarGeometry::iterativeLinearLSTriangulation	(	cv::Point3d	u,
		const cv::Matx34d &	P,
		cv::Point3d	u1,
		const cv::Matx34d &	P1
	)		[static]

source = SfM toy library: https://github.com/royshil/SfM-Toy-Library From "Triangulation", Hartley, R.I. and Sturm, P., Computer vision and image understanding, 1997 return 4x1 double

Definition at line 562 of file EpipolarGeometry.cpp.

cv::Mat rtabmap::EpipolarGeometry::linearLSTriangulation	(	cv::Point3d	u,
		cv::Matx34d	P,
		cv::Point3d	u1,
		cv::Matx34d	P1
	)		[static]

source = SfM toy library: https://github.com/royshil/SfM-Toy-Library From "Triangulation", Hartley, R.I. and Sturm, P., Computer vision and image understanding, 1997 return 1x3 double

Definition at line 529 of file EpipolarGeometry.cpp.

void rtabmap::EpipolarGeometry::parseParameters

(

const ParametersMap &

parameters

)

Definition at line 58 of file EpipolarGeometry.cpp.

void rtabmap::EpipolarGeometry::setMatchCountMinAccepted

(

int

matchCountMinAccepted

)

[inline]

Definition at line 56 of file EpipolarGeometry.h.

void rtabmap::EpipolarGeometry::setRansacParam1

(

double

ransacParam1

)

[inline]

Definition at line 57 of file EpipolarGeometry.h.

void rtabmap::EpipolarGeometry::setRansacParam2

(

double

ransacParam2

)

[inline]

Definition at line 58 of file EpipolarGeometry.h.

double rtabmap::EpipolarGeometry::triangulatePoints	(	const cv::Mat &	pt_set,
		const cv::Mat &	pt_set1,
		const cv::Mat &	P,
		const cv::Mat &	P1,
		pcl::PointCloud< pcl::PointXYZ >::Ptr &	pointcloud,
		std::vector< double > &	reproj_errors
	)		[static]

source = SfM toy library: https://github.com/royshil/SfM-Toy-Library

Definition at line 614 of file EpipolarGeometry.cpp.

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Member Data Documentation

int rtabmap::EpipolarGeometry::_matchCountMinAccepted [private]

Definition at line 147 of file EpipolarGeometry.h.

double rtabmap::EpipolarGeometry::_ransacParam1 [private]

Definition at line 148 of file EpipolarGeometry.h.

double rtabmap::EpipolarGeometry::_ransacParam2 [private]

Definition at line 149 of file EpipolarGeometry.h.

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The documentation for this class was generated from the following files:

• EpipolarGeometry.h
• EpipolarGeometry.cpp