28 #ifndef UTIL3D_FEATURES_H_
29 #define UTIL3D_FEATURES_H_
31 #include <rtabmap/core/rtabmap_core_export.h>
33 #include <opencv2/calib3d/calib3d.hpp>
48 const std::vector<cv::KeyPoint> & keypoints,
49 const cv::Mat & depth,
50 const CameraModel & cameraModel,
55 const std::vector<cv::KeyPoint> & keypoints,
56 const cv::Mat & depth,
57 const std::vector<CameraModel> & cameraModels,
62 const std::vector<cv::KeyPoint> & keypoints,
63 const cv::Mat & disparity,
64 const StereoCameraModel & stereoCameraModel,
69 const std::vector<cv::Point2f> & leftCorners,
70 const std::vector<cv::Point2f> & rightCorners,
71 const StereoCameraModel &
model,
72 const std::vector<unsigned char> &
mask = std::vector<unsigned char>(),
77 const std::map<int, cv::KeyPoint> & kpts,
78 const std::map<int, cv::KeyPoint> & previousKpts,
79 const CameraModel & cameraModel,
80 Transform & cameraTransform,
81 float ransacReprojThreshold = 3.0f,
82 float ransacConfidence = 0.99f,
83 const std::map<int, cv::Point3f> & refGuess3D = std::map<int, cv::Point3f>(),
84 double * variance = 0,
85 std::vector<int> * matchesOut = 0);
87 std::multimap<int, cv::KeyPoint> RTABMAP_CORE_EXPORT
aggregate(
88 const std::list<int> & wordIds,
89 const std::vector<cv::KeyPoint> & keypoints);