Namespaces | Functions
util3d_features.cpp File Reference
#include "rtabmap/core/util3d_features.h"
#include "rtabmap/core/util2d.h"
#include "rtabmap/core/util3d.h"
#include "rtabmap/core/util3d_transforms.h"
#include "rtabmap/core/util3d_correspondences.h"
#include "rtabmap/core/util3d_motion_estimation.h"
#include "rtabmap/core/EpipolarGeometry.h"
#include "opencv/five-point.h"
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UConversion.h>
#include <rtabmap/utilite/UMath.h>
#include <rtabmap/utilite/UStl.h>
#include <pcl/common/point_tests.h>
#include <opencv2/video/tracking.hpp>
Include dependency graph for util3d_features.cpp:

Go to the source code of this file.

Namespaces

 rtabmap
 
 rtabmap::util3d
 

Functions

std::multimap< int, cv::KeyPoint > RTABMAP_EXP rtabmap::util3d::aggregate (const std::list< int > &wordIds, const std::vector< cv::KeyPoint > &keypoints)
 
std::vector< cv::Point3f > RTABMAP_EXP rtabmap::util3d::generateKeypoints3DDepth (const std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, const CameraModel &cameraModel, float minDepth=0, float maxDepth=0)
 
std::vector< cv::Point3f > RTABMAP_EXP rtabmap::util3d::generateKeypoints3DDepth (const std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, const std::vector< CameraModel > &cameraModels, float minDepth=0, float maxDepth=0)
 
std::vector< cv::Point3f > RTABMAP_EXP rtabmap::util3d::generateKeypoints3DDisparity (const std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, const StereoCameraModel &stereoCameraModel, float minDepth=0, float maxDepth=0)
 
std::vector< cv::Point3f > RTABMAP_EXP rtabmap::util3d::generateKeypoints3DStereo (const std::vector< cv::Point2f > &leftCorners, const std::vector< cv::Point2f > &rightCorners, const StereoCameraModel &model, const std::vector< unsigned char > &mask=std::vector< unsigned char >(), float minDepth=0, float maxDepth=0)
 
std::map< int, cv::Point3f > RTABMAP_EXP rtabmap::util3d::generateWords3DMono (const std::map< int, cv::KeyPoint > &kpts, const std::map< int, cv::KeyPoint > &previousKpts, const CameraModel &cameraModel, Transform &cameraTransform, float ransacReprojThreshold=3.0f, float ransacConfidence=0.99f, const std::map< int, cv::Point3f > &refGuess3D=std::map< int, cv::Point3f >(), double *variance=0, std::vector< int > *matchesOut=0)
 


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Jan 23 2023 03:38:59