#include <rtabmap/core/RtabmapExp.h>#include <rtabmap/core/Transform.h>#include <rtabmap/core/CameraModel.h>
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Namespaces | |
| namespace | rtabmap |
| namespace | rtabmap::util3d |
Functions | |
| Transform RTABMAP_EXP | rtabmap::util3d::estimateMotion3DTo2D (const std::map< int, cv::Point3f > &words3A, const std::map< int, cv::KeyPoint > &words2B, const CameraModel &cameraModel, int minInliers=10, int iterations=100, double reprojError=5., int flagsPnP=0, int pnpRefineIterations=1, const Transform &guess=Transform::getIdentity(), const std::map< int, cv::Point3f > &words3B=std::map< int, cv::Point3f >(), double *varianceOut=0, std::vector< int > *matchesOut=0, std::vector< int > *inliersOut=0) |
| Transform RTABMAP_EXP | rtabmap::util3d::estimateMotion3DTo3D (const std::map< int, cv::Point3f > &words3A, const std::map< int, cv::Point3f > &words3B, int minInliers=10, double inliersDistance=0.1, int iterations=100, int refineIterations=5, double *varianceOut=0, std::vector< int > *matchesOut=0, std::vector< int > *inliersOut=0) |
| void RTABMAP_EXP | rtabmap::util3d::solvePnPRansac (const std::vector< cv::Point3f > &objectPoints, const std::vector< cv::Point2f > &imagePoints, const cv::Mat &cameraMatrix, const cv::Mat &distCoeffs, cv::Mat &rvec, cv::Mat &tvec, bool useExtrinsicGuess, int iterationsCount, float reprojectionError, int minInliersCount, std::vector< int > &inliers, int flags, int refineIterations=1, float refineSigma=3.0f) |