util3d_correspondences.h

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/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

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    * Redistributions in binary form must reproduce the above copyright
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      documentation and/or other materials provided with the distribution.
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      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

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*/

#ifndef UTIL3D_CORRESPONDENCES_H_
#define UTIL3D_CORRESPONDENCES_H_

#include <rtabmap/core/RtabmapExp.h>

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <opencv2/features2d/features2d.hpp>
#include <set>
#include <map>
#include <list>

namespace rtabmap
{

namespace util3d
{


void RTABMAP_EXP findCorrespondences(
                const std::multimap<int, cv::KeyPoint> & wordsA,
                const std::multimap<int, cv::KeyPoint> & wordsB,
                std::list<std::pair<cv::Point2f, cv::Point2f> > & pairs);

void RTABMAP_EXP findCorrespondences(
                const std::multimap<int, cv::Point3f> & words1,
                const std::multimap<int, cv::Point3f> & words2,
                std::vector<cv::Point3f> & inliers1,
                std::vector<cv::Point3f> & inliers2,
                float maxDepth,
                std::vector<int> * uniqueCorrespondences = 0);

void RTABMAP_EXP findCorrespondences(
                const std::map<int, cv::Point3f> & words1,
                const std::map<int, cv::Point3f> & words2,
                std::vector<cv::Point3f> & inliers1,
                std::vector<cv::Point3f> & inliers2,
                float maxDepth,
                std::vector<int> * correspondences = 0);

// remove depth by z axis
void RTABMAP_EXP extractXYZCorrespondences(const std::multimap<int, pcl::PointXYZ> & words1,
                                                                          const std::multimap<int, pcl::PointXYZ> & words2,
                                                                          pcl::PointCloud<pcl::PointXYZ> & cloud1,
                                                                          pcl::PointCloud<pcl::PointXYZ> & cloud2);

void RTABMAP_EXP extractXYZCorrespondencesRANSAC(const std::multimap<int, pcl::PointXYZ> & words1,
                                                                          const std::multimap<int, pcl::PointXYZ> & words2,
                                                                          pcl::PointCloud<pcl::PointXYZ> & cloud1,
                                                                          pcl::PointCloud<pcl::PointXYZ> & cloud2);

void RTABMAP_EXP extractXYZCorrespondences(const std::list<std::pair<cv::Point2f, cv::Point2f> > & correspondences,
                                                                           const cv::Mat & depthImage1,
                                                                           const cv::Mat & depthImage2,
                                                                           float cx, float cy,
                                                                           float fx, float fy,
                                                                           float maxDepth,
                                                                           pcl::PointCloud<pcl::PointXYZ> & cloud1,
                                                                           pcl::PointCloud<pcl::PointXYZ> & cloud2);

void RTABMAP_EXP extractXYZCorrespondences(const std::list<std::pair<cv::Point2f, cv::Point2f> > & correspondences,
                                                           const pcl::PointCloud<pcl::PointXYZ> & cloud1,
                                                           const pcl::PointCloud<pcl::PointXYZ> & cloud2,
                                                           pcl::PointCloud<pcl::PointXYZ> & inliers1,
                                                           pcl::PointCloud<pcl::PointXYZ> & inliers2,
                                                           char depthAxis);
void RTABMAP_EXP extractXYZCorrespondences(const std::list<std::pair<cv::Point2f, cv::Point2f> > & correspondences,
                                                           const pcl::PointCloud<pcl::PointXYZRGB> & cloud1,
                                                           const pcl::PointCloud<pcl::PointXYZRGB> & cloud2,
                                                           pcl::PointCloud<pcl::PointXYZ> & inliers1,
                                                           pcl::PointCloud<pcl::PointXYZ> & inliers2,
                                                           char depthAxis);

int RTABMAP_EXP countUniquePairs(const std::multimap<int, pcl::PointXYZ> & wordsA,
                                         const std::multimap<int, pcl::PointXYZ> & wordsB);

void RTABMAP_EXP filterMaxDepth(pcl::PointCloud<pcl::PointXYZ> & inliers1,
                                        pcl::PointCloud<pcl::PointXYZ> & inliers2,
                                        float maxDepth,
                                        char depthAxis,
                                        bool removeDuplicates);

} // namespace util3d
} // namespace rtabmap

#endif /* UTIL3D_CORRESPONDENCES_H_ */