/home/runner/work/rtabmap/rtabmap/corelib/include/rtabmap/core/util3d_correspondences.h

Finds 2D point correspondences between two sets of keypoints based on matching word IDs.

Finds 2D point correspondences between two sets of keypoints based on matching word IDs.This function compares two multimap structures containing word IDs associated with cv::KeyPoints. It extracts correspondences where the same word ID appears exactly once in each set.

Parameters

[in]	wordsA	A multimap from word ID to keypoints in set A.
[in]	wordsB	A multimap from word ID to keypoints in set B.
[out]	pairs	A list of matching 2D point correspondences (Point2f) between wordsA and wordsB.

Note

Only unique word ID matches (count == 1 in both sets) are considered valid correspondences.

If wordsA = [1 2 3 4 6 6] and wordsB = [1 1 2 4 5 6 6], the output pairs will contain correspondences for IDs 2 and 4, because only those have exactly one match in both sets.

/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
 
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      names of its contributors may be used to endorse or promote products
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#ifndef UTIL3D_CORRESPONDENCES_H_
#define UTIL3D_CORRESPONDENCES_H_
 
#include <rtabmap/core/rtabmap_core_export.h>
 
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <opencv2/core/version.hpp>
#if CV_MAJOR_VERSION < 5
#include <opencv2/features2d/features2d.hpp>
#else
#include <opencv2/features.hpp>
#endif
#include <set>
#include <map>
#include <list>
 
namespace rtabmap
{
 
namespace util3d
{
 
void RTABMAP_CORE_EXPORT 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);
 
void RTABMAP_CORE_EXPORT 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);
 
void RTABMAP_CORE_EXPORT 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);
 
void RTABMAP_CORE_EXPORT 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);
void RTABMAP_CORE_EXPORT 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);
 
int RTABMAP_CORE_EXPORT countUniquePairs(const std::multimap<int, pcl::PointXYZ> & wordsA,
           const std::multimap<int, pcl::PointXYZ> & wordsB);
 
void RTABMAP_CORE_EXPORT filterMaxDepth(pcl::PointCloud<pcl::PointXYZ> & inliers1,
          pcl::PointCloud<pcl::PointXYZ> & inliers2,
          float maxDepth,
          char depthAxis,
          bool removeDuplicates);
 
void RTABMAP_CORE_EXPORT findCorrespondences(
    const std::multimap<int, cv::KeyPoint> & wordsA,
    const std::multimap<int, cv::KeyPoint> & wordsB,
    std::list<std::pair<cv::Point2f, cv::Point2f> > & pairs);
 
void RTABMAP_CORE_EXPORT 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);
 
void RTABMAP_CORE_EXPORT 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);
 
} // namespace util3d
} // namespace rtabmap
 
#endif /* UTIL3D_CORRESPONDENCES_H_ */