Namespaces | Functions
util3d_features.h File Reference
#include <rtabmap/core/rtabmap_core_export.h>
#include <opencv2/calib3d/calib3d.hpp>
#include <rtabmap/core/Transform.h>
#include <rtabmap/core/CameraModel.h>
#include <rtabmap/core/StereoCameraModel.h>
#include <list>
#include <map>
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Namespaces

 rtabmap
 
 rtabmap::util3d
 

Functions

std::multimap< int, cv::KeyPoint > RTABMAP_CORE_EXPORT rtabmap::util3d::aggregate (const std::list< int > &wordIds, const std::vector< cv::KeyPoint > &keypoints)
 
std::vector< cv::Point3f > RTABMAP_CORE_EXPORT 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_CORE_EXPORT 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_CORE_EXPORT 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_CORE_EXPORT 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_CORE_EXPORT 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 Thu Jul 25 2024 02:50:25