util3d_features.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
5 Redistribution and use in source and binary forms, with or without
6 modification, are permitted provided that the following conditions are met:
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8  notice, this list of conditions and the following disclaimer.
9  * Redistributions in binary form must reproduce the above copyright
10  notice, this list of conditions and the following disclaimer in the
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13  names of its contributors may be used to endorse or promote products
14  derived from this software without specific prior written permission.
15 
16 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
17 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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19 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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25 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27 
28 #ifndef UTIL3D_FEATURES_H_
29 #define UTIL3D_FEATURES_H_
30 
31 #include <rtabmap/core/rtabmap_core_export.h>
32 
33 #include <opencv2/calib3d/calib3d.hpp>
34 #include <rtabmap/core/Transform.h>
37 #include <list>
38 #include <map>
39 
40 namespace rtabmap
41 {
42 
43 namespace util3d
44 {
45 
46 
47 std::vector<cv::Point3f> RTABMAP_CORE_EXPORT generateKeypoints3DDepth(
48  const std::vector<cv::KeyPoint> & keypoints,
49  const cv::Mat & depth,
50  const CameraModel & cameraModel,
51  float minDepth = 0,
52  float maxDepth = 0);
53 
54 std::vector<cv::Point3f> RTABMAP_CORE_EXPORT generateKeypoints3DDepth(
55  const std::vector<cv::KeyPoint> & keypoints,
56  const cv::Mat & depth,
57  const std::vector<CameraModel> & cameraModels,
58  float minDepth = 0,
59  float maxDepth = 0);
60 
61 std::vector<cv::Point3f> RTABMAP_CORE_EXPORT generateKeypoints3DDisparity(
62  const std::vector<cv::KeyPoint> & keypoints,
63  const cv::Mat & disparity,
64  const StereoCameraModel & stereoCameraModel,
65  float minDepth = 0,
66  float maxDepth = 0);
67 
68 std::vector<cv::Point3f> RTABMAP_CORE_EXPORT generateKeypoints3DStereo(
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>(),
73  float minDepth = 0,
74  float maxDepth = 0);
75 
76 std::map<int, cv::Point3f> RTABMAP_CORE_EXPORT generateWords3DMono(
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);
86 
87 std::multimap<int, cv::KeyPoint> RTABMAP_CORE_EXPORT aggregate(
88  const std::list<int> & wordIds,
89  const std::vector<cv::KeyPoint> & keypoints);
90 
91 } // namespace util3d
92 } // namespace rtabmap
93 
94 #endif /* UTIL3D_FEATURES_H_ */
glm::mask
GLM_FUNC_DECL genIType mask(genIType const &count)
rtabmap::util3d::generateKeypoints3DStereo
std::vector< cv::Point3f > RTABMAP_CORE_EXPORT 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)
Definition: util3d_features.cpp:158
rtabmap::util3d::generateKeypoints3DDepth
std::vector< cv::Point3f > RTABMAP_CORE_EXPORT generateKeypoints3DDepth(const std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, const CameraModel &cameraModel, float minDepth=0, float maxDepth=0)
Definition: util3d_features.cpp:54
Transform.h
rtabmap::util3d::generateKeypoints3DDisparity
std::vector< cv::Point3f > RTABMAP_CORE_EXPORT generateKeypoints3DDisparity(const std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, const StereoCameraModel &stereoCameraModel, float minDepth=0, float maxDepth=0)
Definition: util3d_features.cpp:122
rtabmap::util3d::generateWords3DMono
std::map< int, cv::Point3f > RTABMAP_CORE_EXPORT 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)
Definition: util3d_features.cpp:209
StereoCameraModel.h
rtabmap::util3d::aggregate
std::multimap< int, cv::KeyPoint > RTABMAP_CORE_EXPORT aggregate(const std::list< int > &wordIds, const std::vector< cv::KeyPoint > &keypoints)
Definition: util3d_features.cpp:414
CameraModel.h
rtabmap
Definition: CameraARCore.cpp:35
trace.model
model
Definition: trace.py:4


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:23