Namespaces | Functions
util3d_features.h File Reference
#include <rtabmap/core/RtabmapExp.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

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)


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jun 6 2019 21:59:37