#include "rtabmap/core/util3d_correspondences.h"#include "rtabmap/core/util3d.h"#include <rtabmap/utilite/UStl.h>#include <rtabmap/core/EpipolarGeometry.h>#include <opencv2/calib3d/calib3d.hpp>#include <pcl/search/kdtree.h>#include <pcl/common/point_tests.h>
Include dependency graph for util3d_correspondences.cpp:
Go to the source code of this file.
Namespaces | |
| rtabmap | |
| rtabmap::util3d | |
Functions | |
| int RTABMAP_CORE_EXPORT | rtabmap::util3d::countUniquePairs (const std::multimap< int, pcl::PointXYZ > &wordsA, const std::multimap< int, pcl::PointXYZ > &wordsB) |
| void RTABMAP_CORE_EXPORT | rtabmap::util3d::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_CORE_EXPORT | rtabmap::util3d::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_CORE_EXPORT | rtabmap::util3d::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) |
| void RTABMAP_CORE_EXPORT | rtabmap::util3d::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) |
| template<typename PointT > | |
| void | rtabmap::util3d::extractXYZCorrespondencesImpl (const std::list< std::pair< cv::Point2f, cv::Point2f > > &correspondences, const pcl::PointCloud< PointT > &cloud1, const pcl::PointCloud< PointT > &cloud2, pcl::PointCloud< pcl::PointXYZ > &inliers1, pcl::PointCloud< pcl::PointXYZ > &inliers2, char depthAxis) |
| void RTABMAP_CORE_EXPORT | rtabmap::util3d::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_CORE_EXPORT | rtabmap::util3d::filterMaxDepth (pcl::PointCloud< pcl::PointXYZ > &inliers1, pcl::PointCloud< pcl::PointXYZ > &inliers2, float maxDepth, char depthAxis, bool removeDuplicates) |
| void RTABMAP_CORE_EXPORT | rtabmap::util3d::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) |
| void RTABMAP_CORE_EXPORT | rtabmap::util3d::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_CORE_EXPORT | rtabmap::util3d::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) |
| int RTABMAP_CORE_EXPORT | rtabmap::util3d::getCorrespondencesCount (const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud_source, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud_target, float maxDistance) |