#include "rtabmap/core/util3d_features.h"#include "rtabmap/core/util2d.h"#include "rtabmap/core/util3d.h"#include "rtabmap/core/util3d_transforms.h"#include "rtabmap/core/util3d_correspondences.h"#include "rtabmap/core/util3d_motion_estimation.h"#include "rtabmap/core/EpipolarGeometry.h"#include <rtabmap/utilite/ULogger.h>#include <rtabmap/utilite/UConversion.h>#include <rtabmap/utilite/UMath.h>#include <rtabmap/utilite/UStl.h>#include <opencv2/video/tracking.hpp>
Include dependency graph for util3d_features.cpp:
Go to the source code of this file.
Namespaces | |
| namespace | rtabmap |
| namespace | rtabmap::util3d |
Functions | |
| std::multimap< int, cv::KeyPoint > RTABMAP_EXP | rtabmap::util3d::aggregate (const std::list< int > &wordIds, const std::vector< cv::KeyPoint > &keypoints) |
| std::vector< cv::Point3f > RTABMAP_EXP | 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_EXP | 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_EXP | 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_EXP | 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_EXP | rtabmap::util3d::generateWords3DMono (const std::map< int, cv::KeyPoint > &kpts, const std::map< int, cv::KeyPoint > &previousKpts, const CameraModel &cameraModel, Transform &cameraTransform, int pnpIterations=100, float pnpReprojError=8.0f, int pnpFlags=0, int pnpRefineIterations=1, float ransacParam1=3.0f, float ransacParam2=0.99f, const std::map< int, cv::Point3f > &refGuess3D=std::map< int, cv::Point3f >(), double *variance=0) |