util3d_features.h
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00001 /*
00002 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
00003 All rights reserved.
00004 
00005 Redistribution and use in source and binary forms, with or without
00006 modification, are permitted provided that the following conditions are met:
00007     * Redistributions of source code must retain the above copyright
00008       notice, this list of conditions and the following disclaimer.
00009     * Redistributions in binary form must reproduce the above copyright
00010       notice, this list of conditions and the following disclaimer in the
00011       documentation and/or other materials provided with the distribution.
00012     * Neither the name of the Universite de Sherbrooke nor the
00013       names of its contributors may be used to endorse or promote products
00014       derived from this software without specific prior written permission.
00015 
00016 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00017 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00018 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00019 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
00020 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00021 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00022 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00023 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00024 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00025 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00026 */
00027 
00028 #ifndef UTIL3D_FEATURES_H_
00029 #define UTIL3D_FEATURES_H_
00030 
00031 #include <rtabmap/core/RtabmapExp.h>
00032 
00033 #include <opencv2/calib3d/calib3d.hpp>
00034 #include <rtabmap/core/Transform.h>
00035 #include <rtabmap/core/CameraModel.h>
00036 #include <rtabmap/core/StereoCameraModel.h>
00037 #include <list>
00038 #include <map>
00039 
00040 namespace rtabmap
00041 {
00042 
00043 namespace util3d
00044 {
00045 
00046 
00047 std::vector<cv::Point3f> RTABMAP_EXP generateKeypoints3DDepth(
00048                 const std::vector<cv::KeyPoint> & keypoints,
00049                 const cv::Mat & depth,
00050                 const CameraModel & cameraModel,
00051                 float minDepth = 0,
00052                 float maxDepth = 0);
00053 
00054 std::vector<cv::Point3f> RTABMAP_EXP generateKeypoints3DDepth(
00055                 const std::vector<cv::KeyPoint> & keypoints,
00056                 const cv::Mat & depth,
00057                 const std::vector<CameraModel> & cameraModels,
00058                 float minDepth = 0,
00059                 float maxDepth = 0);
00060 
00061 std::vector<cv::Point3f> RTABMAP_EXP generateKeypoints3DDisparity(
00062                 const std::vector<cv::KeyPoint> & keypoints,
00063                 const cv::Mat & disparity,
00064                 const StereoCameraModel & stereoCameraModel,
00065                 float minDepth = 0,
00066                 float maxDepth = 0);
00067 
00068 std::vector<cv::Point3f> RTABMAP_EXP generateKeypoints3DStereo(
00069                 const std::vector<cv::Point2f> & leftCorners,
00070                 const std::vector<cv::Point2f> & rightCorners,
00071                 const StereoCameraModel & model,
00072                 const std::vector<unsigned char> & mask = std::vector<unsigned char>(),
00073                 float minDepth = 0,
00074                 float maxDepth = 0);
00075 
00076 std::map<int, cv::Point3f> RTABMAP_EXP generateWords3DMono(
00077                 const std::map<int, cv::KeyPoint> & kpts,
00078                 const std::map<int, cv::KeyPoint> & previousKpts,
00079                 const CameraModel & cameraModel,
00080                 Transform & cameraTransform,
00081                 int pnpIterations = 100,
00082                 float pnpReprojError = 8.0f,
00083                 int pnpFlags = 0, // cv::SOLVEPNP_ITERATIVE
00084                 int pnpRefineIterations = 1,
00085                 float ransacParam1 = 3.0f,
00086                 float ransacParam2 = 0.99f,
00087                 const std::map<int, cv::Point3f> & refGuess3D = std::map<int, cv::Point3f>(),
00088                 double * variance = 0);
00089 
00090 std::multimap<int, cv::KeyPoint> RTABMAP_EXP aggregate(
00091                 const std::list<int> & wordIds,
00092                 const std::vector<cv::KeyPoint> & keypoints);
00093 
00094 } // namespace util3d
00095 } // namespace rtabmap
00096 
00097 #endif /* UTIL3D_FEATURES_H_ */


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jun 6 2019 21:59:32