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int RTABMAP_CORE_EXPORT | rtabmap::util3d::countUniquePairs (const std::multimap< int, pcl::PointXYZ > &wordsA, const std::multimap< int, pcl::PointXYZ > &wordsB) |
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void RTABMAP_CORE_EXPORT | rtabmap::util3d::extractXYZCorrespondences (const std::list< std::pair< cv::Point2f, cv::Point2f > > &correspondences, const cv::Mat &depthImage1, const cv::Mat &depthImage2, float cx, float cy, float fx, float fy, float maxDepth, pcl::PointCloud< pcl::PointXYZ > &cloud1, pcl::PointCloud< pcl::PointXYZ > &cloud2) |
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void RTABMAP_CORE_EXPORT | rtabmap::util3d::extractXYZCorrespondences (const std::list< std::pair< cv::Point2f, cv::Point2f > > &correspondences, const pcl::PointCloud< pcl::PointXYZ > &cloud1, const pcl::PointCloud< pcl::PointXYZ > &cloud2, pcl::PointCloud< pcl::PointXYZ > &inliers1, pcl::PointCloud< pcl::PointXYZ > &inliers2, char depthAxis) |
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void RTABMAP_CORE_EXPORT | rtabmap::util3d::extractXYZCorrespondences (const std::list< std::pair< cv::Point2f, cv::Point2f > > &correspondences, const pcl::PointCloud< pcl::PointXYZRGB > &cloud1, const pcl::PointCloud< pcl::PointXYZRGB > &cloud2, pcl::PointCloud< pcl::PointXYZ > &inliers1, pcl::PointCloud< pcl::PointXYZ > &inliers2, char depthAxis) |
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void RTABMAP_CORE_EXPORT | rtabmap::util3d::extractXYZCorrespondences (const std::multimap< int, pcl::PointXYZ > &words1, const std::multimap< int, pcl::PointXYZ > &words2, pcl::PointCloud< pcl::PointXYZ > &cloud1, pcl::PointCloud< pcl::PointXYZ > &cloud2) |
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void RTABMAP_CORE_EXPORT | rtabmap::util3d::extractXYZCorrespondencesRANSAC (const std::multimap< int, pcl::PointXYZ > &words1, const std::multimap< int, pcl::PointXYZ > &words2, pcl::PointCloud< pcl::PointXYZ > &cloud1, pcl::PointCloud< pcl::PointXYZ > &cloud2) |
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void RTABMAP_CORE_EXPORT | rtabmap::util3d::filterMaxDepth (pcl::PointCloud< pcl::PointXYZ > &inliers1, pcl::PointCloud< pcl::PointXYZ > &inliers2, float maxDepth, char depthAxis, bool removeDuplicates) |
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void RTABMAP_CORE_EXPORT | rtabmap::util3d::findCorrespondences (const std::map< int, cv::Point3f > &words1, const std::map< int, cv::Point3f > &words2, std::vector< cv::Point3f > &inliers1, std::vector< cv::Point3f > &inliers2, float maxDepth, std::vector< int > *correspondences=0) |
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void RTABMAP_CORE_EXPORT | rtabmap::util3d::findCorrespondences (const std::multimap< int, cv::KeyPoint > &wordsA, const std::multimap< int, cv::KeyPoint > &wordsB, std::list< std::pair< cv::Point2f, cv::Point2f > > &pairs) |
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void RTABMAP_CORE_EXPORT | rtabmap::util3d::findCorrespondences (const std::multimap< int, cv::Point3f > &words1, const std::multimap< int, cv::Point3f > &words2, std::vector< cv::Point3f > &inliers1, std::vector< cv::Point3f > &inliers2, float maxDepth, std::vector< int > *uniqueCorrespondences=0) |
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