rtabmap::EpipolarGeometry Class Reference

#include <EpipolarGeometry.h>

Public Member Functions
bool	check (const Signature *ssA, const Signature *ssB)
	EpipolarGeometry (const ParametersMap &parameters=ParametersMap())
int	getMatchCountMinAccepted () const
double	getRansacParam1 () const
double	getRansacParam2 () const
void	parseParameters (const ParametersMap &parameters)
void	setMatchCountMinAccepted (int matchCountMinAccepted)
void	setRansacParam1 (double ransacParam1)
void	setRansacParam2 (double ransacParam2)
virtual	~EpipolarGeometry ()

Static Public Member Functions
static void	findEpipolesFromF (const cv::Mat &fundamentalMatrix, cv::Vec3d &e1, cv::Vec3d &e2)
static cv::Mat	findFFromCalibratedStereoCameras (double fx, double fy, double cx, double cy, double Tx, double Ty)
static cv::Mat	findFFromWords (const std::list< std::pair< int, std::pair< cv::KeyPoint, cv::KeyPoint > > > &pairs, std::vector< uchar > &status, double ransacParam1=3.0, double ransacParam2=0.99)
static int	findPairs (const std::map< int, cv::KeyPoint > &wordsA, const std::map< int, cv::KeyPoint > &wordsB, std::list< std::pair< int, std::pair< cv::KeyPoint, cv::KeyPoint > > > &pairs, bool ignoreNegativeIds=true)
static int	findPairs (const std::multimap< int, cv::KeyPoint > &wordsA, const std::multimap< int, cv::KeyPoint > &wordsB, std::list< std::pair< int, std::pair< cv::KeyPoint, cv::KeyPoint > > > &pairs, bool ignoreNegativeIds=true)
static int	findPairsAll (const std::multimap< int, cv::KeyPoint > &wordsA, const std::multimap< int, cv::KeyPoint > &wordsB, std::list< std::pair< int, std::pair< cv::KeyPoint, cv::KeyPoint > > > &pairs, bool ignoreNegativeIds=true)
static int	findPairsUnique (const std::multimap< int, cv::KeyPoint > &wordsA, const std::multimap< int, cv::KeyPoint > &wordsB, std::list< std::pair< int, std::pair< cv::KeyPoint, cv::KeyPoint > > > &pairs, bool ignoreNegativeIds=true)
static cv::Mat	findPFromE (const cv::Mat &E, const cv::Mat &x, const cv::Mat &xp)
static void	findRTFromP (const cv::Mat &p, cv::Mat &r, cv::Mat &t)
static cv::Mat	iterativeLinearLSTriangulation (cv::Point3d u, const cv::Matx34d &P, cv::Point3d u1, const cv::Matx34d &P1)
static cv::Mat	linearLSTriangulation (cv::Point3d u, cv::Matx34d P, cv::Point3d u1, cv::Matx34d P1)
static double	triangulatePoints (const cv::Mat &pt_set1, const cv::Mat &pt_set2, const cv::Mat &P, const cv::Mat &P1, pcl::PointCloud< pcl::PointXYZ >::Ptr &pointcloud, std::vector< double > &reproj_errors)

Private Attributes
int	_matchCountMinAccepted
double	_ransacParam1
double	_ransacParam2

Detailed Description

Definition at line 44 of file EpipolarGeometry.h.

Constructor & Destructor Documentation

rtabmap::EpipolarGeometry::EpipolarGeometry

(

const ParametersMap &

parameters = ParametersMap()

)

Definition at line 46 of file EpipolarGeometry.cpp.

rtabmap::EpipolarGeometry::~EpipolarGeometry ( )

virtual

Definition at line 54 of file EpipolarGeometry.cpp.

Member Function Documentation

bool rtabmap::EpipolarGeometry::check	(	const Signature *	ssA,
		const Signature *	ssB
	)

Definition at line 65 of file EpipolarGeometry.cpp.

void rtabmap::EpipolarGeometry::findEpipolesFromF ( const cv::Mat &  fundamentalMatrix, cv::Vec3d &  e1, cv::Vec3d &  e2  )

static

Definition at line 100 of file EpipolarGeometry.cpp.

cv::Mat rtabmap::EpipolarGeometry::findFFromCalibratedStereoCameras ( double  fx, double  fy, double  cx, double  cy, double  Tx, double  Ty  )

static

Definition at line 387 of file EpipolarGeometry.cpp.

cv::Mat rtabmap::EpipolarGeometry::findFFromWords ( const std::list< std::pair< int, std::pair< cv::KeyPoint, cv::KeyPoint > > > &  pairs, std::vector< uchar > &  status, double  ransacParam1 = 3.0, double  ransacParam2 = 0.99  )

static

Definition at line 292 of file EpipolarGeometry.cpp.

int rtabmap::EpipolarGeometry::findPairs ( const std::map< int, cv::KeyPoint > &  wordsA, const std::map< int, cv::KeyPoint > &  wordsB, std::list< std::pair< int, std::pair< cv::KeyPoint, cv::KeyPoint > > > &  pairs, bool  ignoreInvalidIds = true  )

static

if a=[1 2 3 4 6], b=[1 2 4 5 6], results= [(1,1) (2,2) (4,4) (6,6)] realPairsCount = 4

Definition at line 413 of file EpipolarGeometry.cpp.

int rtabmap::EpipolarGeometry::findPairs ( const std::multimap< int, cv::KeyPoint > &  wordsA, const std::multimap< int, cv::KeyPoint > &  wordsB, std::list< std::pair< int, std::pair< cv::KeyPoint, cv::KeyPoint > > > &  pairs, bool  ignoreInvalidIds = true  )

static

if a=[1 2 3 4 6 6], b=[1 1 2 4 5 6 6], results= [(1,1a) (2,2) (4,4) (6a,6a) (6b,6b)] realPairsCount = 5

Definition at line 440 of file EpipolarGeometry.cpp.

int rtabmap::EpipolarGeometry::findPairsAll ( const std::multimap< int, cv::KeyPoint > &  wordsA, const std::multimap< int, cv::KeyPoint > &  wordsB, std::list< std::pair< int, std::pair< cv::KeyPoint, cv::KeyPoint > > > &  pairs, bool  ignoreInvalidIds = true  )

static

if a=[1 2 3 4 6 6], b=[1 1 2 4 5 6 6], results= [(1,1a) (1,1b) (2,2) (4,4) (6a,6a) (6a,6b) (6b,6a) (6b,6b)] realPairsCount = 5

Definition at line 506 of file EpipolarGeometry.cpp.

int rtabmap::EpipolarGeometry::findPairsUnique ( const std::multimap< int, cv::KeyPoint > &  wordsA, const std::multimap< int, cv::KeyPoint > &  wordsB, std::list< std::pair< int, std::pair< cv::KeyPoint, cv::KeyPoint > > > &  pairs, bool  ignoreInvalidIds = true  )

static

if a=[1 2 3 4 6 6], b=[1 1 2 4 5 6 6], results= [(2,2) (4,4)] realPairsCount = 5

Definition at line 472 of file EpipolarGeometry.cpp.

cv::Mat rtabmap::EpipolarGeometry::findPFromE ( const cv::Mat &  E, const cv::Mat &  x, const cv::Mat &  xp  )

static

Definition at line 179 of file EpipolarGeometry.cpp.

void rtabmap::EpipolarGeometry::findRTFromP ( const cv::Mat &  p, cv::Mat &  r, cv::Mat &  t  )

static

Definition at line 375 of file EpipolarGeometry.cpp.

int rtabmap::EpipolarGeometry::getMatchCountMinAccepted ( ) const

inline

Definition at line 52 of file EpipolarGeometry.h.

double rtabmap::EpipolarGeometry::getRansacParam1 ( ) const

inline

Definition at line 53 of file EpipolarGeometry.h.

double rtabmap::EpipolarGeometry::getRansacParam2 ( ) const

inline

Definition at line 54 of file EpipolarGeometry.h.

cv::Mat rtabmap::EpipolarGeometry::iterativeLinearLSTriangulation ( cv::Point3d  u, const cv::Matx34d &  P, cv::Point3d  u1, const cv::Matx34d &  P1  )

static

source = SfM toy library: https://github.com/royshil/SfM-Toy-Library From "Triangulation", Hartley, R.I. and Sturm, P., Computer vision and image understanding, 1997 return 4x1 double

Definition at line 578 of file EpipolarGeometry.cpp.

cv::Mat rtabmap::EpipolarGeometry::linearLSTriangulation ( cv::Point3d  u, cv::Matx34d  P, cv::Point3d  u1, cv::Matx34d  P1  )

static

source = SfM toy library: https://github.com/royshil/SfM-Toy-Library From "Triangulation", Hartley, R.I. and Sturm, P., Computer vision and image understanding, 1997 return 1x3 double

Definition at line 545 of file EpipolarGeometry.cpp.

void rtabmap::EpipolarGeometry::parseParameters

(

const ParametersMap &

parameters

)

Definition at line 58 of file EpipolarGeometry.cpp.

void rtabmap::EpipolarGeometry::setMatchCountMinAccepted ( int  matchCountMinAccepted )

inline

Definition at line 56 of file EpipolarGeometry.h.

void rtabmap::EpipolarGeometry::setRansacParam1 ( double  ransacParam1 )

inline

Definition at line 57 of file EpipolarGeometry.h.

void rtabmap::EpipolarGeometry::setRansacParam2 ( double  ransacParam2 )

inline

Definition at line 58 of file EpipolarGeometry.h.

double rtabmap::EpipolarGeometry::triangulatePoints ( const cv::Mat &  pt_set, const cv::Mat &  pt_set1, const cv::Mat &  P, const cv::Mat &  P1, pcl::PointCloud< pcl::PointXYZ >::Ptr &  pointcloud, std::vector< double > &  reproj_errors  )

static

source = SfM toy library: https://github.com/royshil/SfM-Toy-Library

Definition at line 630 of file EpipolarGeometry.cpp.

Member Data Documentation

int rtabmap::EpipolarGeometry::_matchCountMinAccepted

private

Definition at line 151 of file EpipolarGeometry.h.

double rtabmap::EpipolarGeometry::_ransacParam1

private

Definition at line 152 of file EpipolarGeometry.h.

double rtabmap::EpipolarGeometry::_ransacParam2

private

Definition at line 153 of file EpipolarGeometry.h.

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The documentation for this class was generated from the following files:

• EpipolarGeometry.h
• EpipolarGeometry.cpp