util3d_motion_estimation.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_MOTION_ESTIMATION_H_
00029 #define UTIL3D_MOTION_ESTIMATION_H_
00030 
00031 #include <rtabmap/core/RtabmapExp.h>
00032 
00033 #include <rtabmap/core/Transform.h>
00034 #include <rtabmap/core/CameraModel.h>
00035 
00036 namespace rtabmap
00037 {
00038 
00039 namespace util3d
00040 {
00041 
00042 Transform RTABMAP_EXP estimateMotion3DTo2D(
00043                         const std::map<int, cv::Point3f> & words3A,
00044                         const std::map<int, cv::KeyPoint> & words2B,
00045                         const CameraModel & cameraModel,
00046                         int minInliers = 10,
00047                         int iterations = 100,
00048                         double reprojError = 5.,
00049                         int flagsPnP = 0,
00050                         int pnpRefineIterations = 1,
00051                         const Transform & guess = Transform::getIdentity(),
00052                         const std::map<int, cv::Point3f> & words3B = std::map<int, cv::Point3f>(),
00053                         cv::Mat * covariance = 0, // mean reproj error if words3B is not set
00054                         std::vector<int> * matchesOut = 0,
00055                         std::vector<int> * inliersOut = 0);
00056 
00057 Transform RTABMAP_EXP estimateMotion3DTo3D(
00058                         const std::map<int, cv::Point3f> & words3A,
00059                         const std::map<int, cv::Point3f> & words3B,
00060                         int minInliers = 10,
00061                         double inliersDistance = 0.1,
00062                         int iterations = 100,
00063                         int refineIterations = 5,
00064                         cv::Mat * covariance = 0,
00065                         std::vector<int> * matchesOut = 0,
00066                         std::vector<int> * inliersOut = 0);
00067 
00068 void RTABMAP_EXP solvePnPRansac(
00069                 const std::vector<cv::Point3f> & objectPoints,
00070                 const std::vector<cv::Point2f> & imagePoints,
00071                 const cv::Mat & cameraMatrix,
00072                 const cv::Mat & distCoeffs,
00073                 cv::Mat & rvec,
00074                 cv::Mat & tvec,
00075                 bool useExtrinsicGuess,
00076                 int iterationsCount,
00077                 float reprojectionError,
00078                 int minInliersCount,
00079                 std::vector<int> & inliers,
00080                 int flags,
00081                 int refineIterations = 1,
00082                 float refineSigma = 3.0f);
00083 
00084 } // namespace util3d
00085 } // namespace rtabmap
00086 
00087 #endif /* UTIL3D_TRANSFORMS_H_ */


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