#include "rtabmap/core/util3d_motion_estimation.h"#include "rtabmap/utilite/UStl.h"#include "rtabmap/utilite/UMath.h"#include "rtabmap/utilite/ULogger.h"#include "rtabmap/core/util3d_transforms.h"#include "rtabmap/core/util3d_registration.h"#include "rtabmap/core/util3d_correspondences.h"#include "rtabmap/core/util3d.h"#include <pcl/common/common.h>#include "opencv/solvepnp.h"
Include dependency graph for util3d_motion_estimation.cpp:
Go to the source code of this file.
Namespaces | |
| rtabmap | |
| rtabmap::util3d | |
Functions | |
| std::vector< float > | rtabmap::util3d::computeReprojErrors (std::vector< cv::Point3f > opoints, std::vector< cv::Point2f > ipoints, const cv::Mat &cameraMatrix, const cv::Mat &distCoeffs, const cv::Mat &rvec, const cv::Mat &tvec, float reprojErrorThreshold, std::vector< int > &inliers) |
| 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, float maxVariance=0, const Transform &guess=Transform::getIdentity(), const std::map< int, cv::Point3f > &words3B=std::map< int, cv::Point3f >(), cv::Mat *covariance=0, std::vector< int > *matchesOut=0, std::vector< int > *inliersOut=0) |
| Transform RTABMAP_EXP | rtabmap::util3d::estimateMotion3DTo2D (const std::map< int, cv::Point3f > &words3A, const std::map< int, cv::KeyPoint > &words2B, const std::vector< CameraModel > &cameraModels, int minInliers=10, int iterations=100, double reprojError=5., int flagsPnP=0, int pnpRefineIterations=1, float maxVariance=0, const Transform &guess=Transform::getIdentity(), const std::map< int, cv::Point3f > &words3B=std::map< int, cv::Point3f >(), cv::Mat *covariance=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, cv::Mat *covariance=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) |