Namespaces | Functions
util3d_correspondences.cpp File Reference
#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)
 


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:25