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< a href = "#pub-methods" > Public Member Functions</ a > |
< a href = "#pub-static-methods" > Static Public Member Functions</ a > |
< a href = "classrtabmap_1_1EpipolarGeometry-members.html" > List of all members</ a > </ div >
< div class = "headertitle" >< div class = "title" > rtabmap::EpipolarGeometry Class Reference</ div ></ div >
</ div > <!--header-->
< div class = "contents" >
< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "pub-methods" name = "pub-methods" ></ a >
Public Member Functions</ h2 ></ td ></ tr >
< tr class = "memitem:a48e708bc5d6c9c7dcacba31d4f965442" id = "r_a48e708bc5d6c9c7dcacba31d4f965442" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a48e708bc5d6c9c7dcacba31d4f965442" name = "a48e708bc5d6c9c7dcacba31d4f965442" ></ a >
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  </ td >< td class = "memItemRight" valign = "bottom" >< b > EpipolarGeometry</ b > (const < a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters=< a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ())</ td ></ tr >
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bool  </ td >< td class = "memItemRight" valign = "bottom" >< b > check</ b > (const < a class = "el" href = "classrtabmap_1_1Signature.html" > Signature</ a > *ssA, const < a class = "el" href = "classrtabmap_1_1Signature.html" > Signature</ a > *ssB)</ td ></ tr >
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void  </ td >< td class = "memItemRight" valign = "bottom" >< b > parseParameters</ b > (const < a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters)</ td ></ tr >
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< tr class = "separator:aae54b380ee7cf713f680105a24a04514" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
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< tr class = "memitem:afa113c038e111b3343eb650e994fab55" id = "r_afa113c038e111b3343eb650e994fab55" >< td class = "memItemLeft" align = "right" valign = "top" > double  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1EpipolarGeometry.html#afa113c038e111b3343eb650e994fab55" > getRansacParam1</ a > () const</ td ></ tr >
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< tr class = "memitem:accab495f35611a8c0363dea833dbd347" id = "r_accab495f35611a8c0363dea833dbd347" >< td class = "memItemLeft" align = "right" valign = "top" > double  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1EpipolarGeometry.html#accab495f35611a8c0363dea833dbd347" > getRansacParam2</ a > () const</ td ></ tr >
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< tr class = "memitem:a364dd318300aa33bd74186abc99368a5" id = "r_a364dd318300aa33bd74186abc99368a5" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1EpipolarGeometry.html#a364dd318300aa33bd74186abc99368a5" > setMatchCountMinAccepted</ a > (int matchCountMinAccepted)</ td ></ tr >
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< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "pub-static-methods" name = "pub-static-methods" ></ a >
Static Public Member Functions</ h2 ></ td ></ tr >
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static void  </ td >< td class = "memItemRight" valign = "bottom" >< b > findEpipolesFromF</ b > (const cv::Mat & fundamentalMatrix, cv::Vec3d & e1, cv::Vec3d & e2)</ td ></ tr >
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static cv::Mat  </ td >< td class = "memItemRight" valign = "bottom" >< b > findPFromE</ b > (const cv::Mat & E, const cv::Mat & x, const cv::Mat & xp)</ td ></ tr >
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static cv::Mat  </ td >< td class = "memItemRight" valign = "bottom" >< b > findFFromWords</ b > (const std::list< std::pair< int, std::pair< cv::KeyPoint, cv::KeyPoint > > > & pairs, std::vector< uchar > & status, double ransacReprojThreshold=3.0, double ransacConfidence=0.99)</ td ></ tr >
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static void  </ td >< td class = "memItemRight" valign = "bottom" >< b > findRTFromP</ b > (const cv::Mat & p, cv::Mat & r, cv::Mat & t)</ td ></ tr >
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static cv::Mat  </ td >< td class = "memItemRight" valign = "bottom" >< b > findFFromCalibratedStereoCameras</ b > (double fx, double fy, double cx, double cy, double Tx, double Ty)</ td ></ tr >
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< tr class = "memitem:ace979984a7d97ccaa18bf0764318d342" >< td class = "memTemplItemLeft" align = "right" valign = "top" > static int  </ td >< td class = "memTemplItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1EpipolarGeometry.html#ace979984a7d97ccaa18bf0764318d342" > findPairs</ a > (const std::map< int, T > & wordsA, const std::map< int, T > & wordsB, std::list< std::pair< int, std::pair< T, T > > > & pairs, bool ignoreNegativeIds=true)</ td ></ tr >
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< tr class = "memitem:a8fc121340b9d638dc9b8c69f2d86c5e7" id = "r_a8fc121340b9d638dc9b8c69f2d86c5e7" >< td class = "memTemplParams" colspan = "2" > template< typename T > </ td ></ tr >
< tr class = "memitem:a8fc121340b9d638dc9b8c69f2d86c5e7" >< td class = "memTemplItemLeft" align = "right" valign = "top" > static int  </ td >< td class = "memTemplItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1EpipolarGeometry.html#a8fc121340b9d638dc9b8c69f2d86c5e7" > findPairs</ a > (const std::multimap< int, T > & wordsA, const std::multimap< int, T > & wordsB, std::list< std::pair< int, std::pair< T, T > > > & pairs, bool ignoreNegativeIds=true)</ td ></ tr >
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< tr class = "memitem:a7c3886c647a098d33a88640ed2477e24" >< td class = "memTemplItemLeft" align = "right" valign = "top" > static int  </ td >< td class = "memTemplItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1EpipolarGeometry.html#a7c3886c647a098d33a88640ed2477e24" > findPairsUnique</ a > (const std::multimap< int, T > & wordsA, const std::multimap< int, T > & wordsB, std::list< std::pair< int, std::pair< T, T > > > & pairs, bool ignoreNegativeIds=true)</ td ></ tr >
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< tr class = "memitem:adfcc58ee756cb99887c6d8807bc7104c" id = "r_adfcc58ee756cb99887c6d8807bc7104c" >< td class = "memTemplParams" colspan = "2" > template< typename T > </ td ></ tr >
< tr class = "memitem:adfcc58ee756cb99887c6d8807bc7104c" >< td class = "memTemplItemLeft" align = "right" valign = "top" > static int  </ td >< td class = "memTemplItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1EpipolarGeometry.html#adfcc58ee756cb99887c6d8807bc7104c" > findPairsAll</ a > (const std::multimap< int, T > & wordsA, const std::multimap< int, T > & wordsB, std::list< std::pair< int, std::pair< T, T > > > & pairs, bool ignoreNegativeIds=true)</ td ></ tr >
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static cv::Mat  </ td >< td class = "memItemRight" valign = "bottom" >< b > linearLSTriangulation</ b > (cv::Point3d u, cv::Matx34d P, cv::Point3d u1, cv::Matx34d P1)</ td ></ tr >
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static cv::Mat  </ td >< td class = "memItemRight" valign = "bottom" >< b > iterativeLinearLSTriangulation</ b > (cv::Point3d u, const cv::Matx34d & P, cv::Point3d u1, const cv::Matx34d & P1)</ td ></ tr >
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static double  </ td >< td class = "memItemRight" valign = "bottom" >< b > triangulatePoints</ b > (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)</ td ></ tr >
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< a name = "details" id = "details" ></ a >< h2 class = "groupheader" > Detailed Description</ h2 >
< div class = "textblock" >
< p class = "definition" > Definition at line < a class = "el" href = "EpipolarGeometry_8h_source.html#l00049" > 49</ a > of file < a class = "el" href = "EpipolarGeometry_8h_source.html" > EpipolarGeometry.h</ a > .</ p >
</ div >< h2 class = "groupheader" > Member Function Documentation</ h2 >
< a id = "a0172efb606ffc65d7903dbf8c3ce8e56" name = "a0172efb606ffc65d7903dbf8c3ce8e56" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a0172efb606ffc65d7903dbf8c3ce8e56" > ◆  </ a ></ span > getMatchCountMinAccepted()</ h2 >
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< div class = "memproto" >
< table class = "mlabels" >
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< td class = "mlabels-left" >
< table class = "memname" >
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< td class = "memname" > int rtabmap::EpipolarGeometry::getMatchCountMinAccepted </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
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</ table >
</ div >< div class = "memdoc" >
< p class = "definition" > Definition at line < a class = "el" href = "EpipolarGeometry_8h_source.html#l00057" > 57</ a > of file < a class = "el" href = "EpipolarGeometry_8h_source.html" > EpipolarGeometry.h</ a > .</ p >
</ div >
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< a id = "afa113c038e111b3343eb650e994fab55" name = "afa113c038e111b3343eb650e994fab55" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#afa113c038e111b3343eb650e994fab55" > ◆  </ a ></ span > getRansacParam1()</ h2 >
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< td class = "memname" > double rtabmap::EpipolarGeometry::getRansacParam1 </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
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< p class = "definition" > Definition at line < a class = "el" href = "EpipolarGeometry_8h_source.html#l00058" > 58</ a > of file < a class = "el" href = "EpipolarGeometry_8h_source.html" > EpipolarGeometry.h</ a > .</ p >
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< a id = "accab495f35611a8c0363dea833dbd347" name = "accab495f35611a8c0363dea833dbd347" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#accab495f35611a8c0363dea833dbd347" > ◆  </ a ></ span > getRansacParam2()</ h2 >
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< td class = "memname" > double rtabmap::EpipolarGeometry::getRansacParam2 </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
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< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
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< p class = "definition" > Definition at line < a class = "el" href = "EpipolarGeometry_8h_source.html#l00059" > 59</ a > of file < a class = "el" href = "EpipolarGeometry_8h_source.html" > EpipolarGeometry.h</ a > .</ p >
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< a id = "a364dd318300aa33bd74186abc99368a5" name = "a364dd318300aa33bd74186abc99368a5" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a364dd318300aa33bd74186abc99368a5" > ◆  </ a ></ span > setMatchCountMinAccepted()</ h2 >
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< td class = "memname" > void rtabmap::EpipolarGeometry::setMatchCountMinAccepted </ td >
< td > (</ td >
< td class = "paramtype" > int  </ td >
< td class = "paramname" >< em > matchCountMinAccepted</ em ></ td >< td > )</ td >
< td ></ td >
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< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
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< p class = "definition" > Definition at line < a class = "el" href = "EpipolarGeometry_8h_source.html#l00061" > 61</ a > of file < a class = "el" href = "EpipolarGeometry_8h_source.html" > EpipolarGeometry.h</ a > .</ p >
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< a id = "a8915c49b58d8d3d63180922501b1f029" name = "a8915c49b58d8d3d63180922501b1f029" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a8915c49b58d8d3d63180922501b1f029" > ◆  </ a ></ span > setRansacParam1()</ h2 >
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< td class = "memname" > void rtabmap::EpipolarGeometry::setRansacParam1 </ td >
< td > (</ td >
< td class = "paramtype" > double  </ td >
< td class = "paramname" >< em > ransacParam1</ em ></ td >< td > )</ td >
< td ></ td >
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< p class = "definition" > Definition at line < a class = "el" href = "EpipolarGeometry_8h_source.html#l00062" > 62</ a > of file < a class = "el" href = "EpipolarGeometry_8h_source.html" > EpipolarGeometry.h</ a > .</ p >
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< a id = "a7b3496bc00e02b7e539a90f34d953e8f" name = "a7b3496bc00e02b7e539a90f34d953e8f" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a7b3496bc00e02b7e539a90f34d953e8f" > ◆  </ a ></ span > setRansacParam2()</ h2 >
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< td class = "memname" > void rtabmap::EpipolarGeometry::setRansacParam2 </ td >
< td > (</ td >
< td class = "paramtype" > double  </ td >
< td class = "paramname" >< em > ransacParam2</ em ></ td >< td > )</ td >
< td ></ td >
</ tr >
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< p class = "definition" > Definition at line < a class = "el" href = "EpipolarGeometry_8h_source.html#l00063" > 63</ a > of file < a class = "el" href = "EpipolarGeometry_8h_source.html" > EpipolarGeometry.h</ a > .</ p >
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< a id = "ace979984a7d97ccaa18bf0764318d342" name = "ace979984a7d97ccaa18bf0764318d342" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#ace979984a7d97ccaa18bf0764318d342" > ◆  </ a ></ span > findPairs() < span class = "overload" > [1/2]</ span ></ h2 >
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< td class = "memname" > static int rtabmap::EpipolarGeometry::findPairs </ td >
< td > (</ td >
< td class = "paramtype" > const std::map< int, T > &  </ td >
< td class = "paramname" >< em > wordsA</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const std::map< int, T > &  </ td >
< td class = "paramname" >< em > wordsB</ em > , </ td >
</ tr >
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< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > std::list< std::pair< int, std::pair< T, T > > > &  </ td >
< td class = "paramname" >< em > pairs</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > bool  </ td >
< td class = "paramname" >< em > ignoreNegativeIds</ em > = < code > true</ code >   </ td >
</ tr >
< tr >
< td ></ td >
< td > )</ td >
< td ></ td >< td ></ td >
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< p > if a=[1 2 3 4 6], b=[1 2 4 5 6], results= [(1,1) (2,2) (4,4) (6,6)] realPairsCount = 4 </ p >
< p class = "definition" > Definition at line < a class = "el" href = "EpipolarGeometry_8h_source.html#l00100" > 100</ a > of file < a class = "el" href = "EpipolarGeometry_8h_source.html" > EpipolarGeometry.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a8fc121340b9d638dc9b8c69f2d86c5e7" > ◆  </ a ></ span > findPairs() < span class = "overload" > [2/2]</ span ></ h2 >
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< td class = "memname" > static int rtabmap::EpipolarGeometry::findPairs </ td >
< td > (</ td >
< td class = "paramtype" > const std::multimap< int, T > &  </ td >
< td class = "paramname" >< em > wordsA</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const std::multimap< int, T > &  </ td >
< td class = "paramname" >< em > wordsB</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > std::list< std::pair< int, std::pair< T, T > > > &  </ td >
< td class = "paramname" >< em > pairs</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > bool  </ td >
< td class = "paramname" >< em > ignoreNegativeIds</ em > = < code > true</ code >   </ td >
</ tr >
< tr >
< td ></ td >
< td > )</ td >
< td ></ td >< td ></ td >
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< p > 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 </ p >
< p class = "definition" > Definition at line < a class = "el" href = "EpipolarGeometry_8h_source.html#l00128" > 128</ a > of file < a class = "el" href = "EpipolarGeometry_8h_source.html" > EpipolarGeometry.h</ a > .</ p >
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< a id = "a7c3886c647a098d33a88640ed2477e24" name = "a7c3886c647a098d33a88640ed2477e24" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a7c3886c647a098d33a88640ed2477e24" > ◆  </ a ></ span > findPairsUnique()</ h2 >
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< td class = "memname" > static int rtabmap::EpipolarGeometry::findPairsUnique </ td >
< td > (</ td >
< td class = "paramtype" > const std::multimap< int, T > &  </ td >
< td class = "paramname" >< em > wordsA</ em > , </ td >
</ tr >
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< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const std::multimap< int, T > &  </ td >
< td class = "paramname" >< em > wordsB</ em > , </ td >
</ tr >
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< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > std::list< std::pair< int, std::pair< T, T > > > &  </ td >
< td class = "paramname" >< em > pairs</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > bool  </ td >
< td class = "paramname" >< em > ignoreNegativeIds</ em > = < code > true</ code >   </ td >
</ tr >
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< td ></ td >
< td > )</ td >
< td ></ td >< td ></ td >
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< p > if a=[1 2 3 4 6 6], b=[1 1 2 4 5 6 6], results= [(2,2) (4,4)] realPairsCount = 5 </ p >
< p class = "definition" > Definition at line < a class = "el" href = "EpipolarGeometry_8h_source.html#l00162" > 162</ a > of file < a class = "el" href = "EpipolarGeometry_8h_source.html" > EpipolarGeometry.h</ a > .</ p >
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< a id = "adfcc58ee756cb99887c6d8807bc7104c" name = "adfcc58ee756cb99887c6d8807bc7104c" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#adfcc58ee756cb99887c6d8807bc7104c" > ◆  </ a ></ span > findPairsAll()</ h2 >
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< td class = "memname" > static int rtabmap::EpipolarGeometry::findPairsAll </ td >
< td > (</ td >
< td class = "paramtype" > const std::multimap< int, T > &  </ td >
< td class = "paramname" >< em > wordsA</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const std::multimap< int, T > &  </ td >
< td class = "paramname" >< em > wordsB</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > std::list< std::pair< int, std::pair< T, T > > > &  </ td >
< td class = "paramname" >< em > pairs</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > bool  </ td >
< td class = "paramname" >< em > ignoreNegativeIds</ em > = < code > true</ code >   </ td >
</ tr >
< tr >
< td ></ td >
< td > )</ td >
< td ></ td >< td ></ td >
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< p > 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 </ p >
< p class = "definition" > Definition at line < a class = "el" href = "EpipolarGeometry_8h_source.html#l00197" > 197</ a > of file < a class = "el" href = "EpipolarGeometry_8h_source.html" > EpipolarGeometry.h</ a > .</ p >
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< hr /> The documentation for this class was generated from the following file:< ul >
< li > corelib/include/rtabmap/core/< a class = "el" href = "EpipolarGeometry_8h_source.html" > EpipolarGeometry.h</ a ></ li >
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< li class = "navelem" >< a class = "el" href = "namespacertabmap.html" > rtabmap</ a ></ li >< li class = "navelem" >< a class = "el" href = "classrtabmap_1_1EpipolarGeometry.html" > EpipolarGeometry</ a ></ li >
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