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<divclass="ttc"id="aclassrtabmap_1_1CameraModel_html"><divclass="ttname"><ahref="classrtabmap_1_1CameraModel.html">rtabmap::CameraModel</a></div><divclass="ttdoc">Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection,...</div><divclass="ttdef"><b>Definition</b><ahref="CameraModel_8h_source.html#l00052">CameraModel.h:53</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1StereoCameraModel_html"><divclass="ttname"><ahref="classrtabmap_1_1StereoCameraModel.html">rtabmap::StereoCameraModel</a></div><divclass="ttdoc">A class representing a calibrated stereo camera system.</div><divclass="ttdef"><b>Definition</b><ahref="StereoCameraModel_8h_source.html#l00053">StereoCameraModel.h:54</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1Transform_html"><divclass="ttname"><ahref="classrtabmap_1_1Transform.html">rtabmap::Transform</a></div><divclass="ttdoc">Represents a 3D rigid body transformation (rotation + translation).</div><divclass="ttdef"><b>Definition</b><ahref="Transform_8h_source.html#l00052">Transform.h:53</a></div></div>
<divclass="ttc"id="anamespacertabmap_1_1util3d_html_a785db0d55f5eccf209b9d3d712ec92b2"><divclass="ttname"><ahref="namespacertabmap_1_1util3d.html#a785db0d55f5eccf209b9d3d712ec92b2">rtabmap::util3d::generateKeypoints3DDepth</a></div><divclass="ttdeci">std::vector< cv::Point3f > RTABMAP_CORE_EXPORT generateKeypoints3DDepth(const std::vector< cv::KeyPoint >&keypoints, const cv::Mat &depth, const std::vector< CameraModel >&cameraModels, float minDepth=0, float maxDepth=0)</div><divclass="ttdoc">Projects 2D keypoints to 3D space using the provided depth image and camera models.</div></div>
<divclass="ttc"id="anamespacertabmap_1_1util3d_html_a7d48db86fe2f0cfc9abc974a66be8695"><divclass="ttname"><ahref="namespacertabmap_1_1util3d.html#a7d48db86fe2f0cfc9abc974a66be8695">rtabmap::util3d::generateKeypoints3DStereo</a></div><divclass="ttdeci">std::vector< cv::Point3f > RTABMAP_CORE_EXPORT generateKeypoints3DStereo(const std::vector< cv::Point2f >&leftCorners, const std::vector< cv::Point2f >&rightCorners, const StereoCameraModel &model, const std::vector< unsigned char >&mask=std::vector< unsigned char >(), float minDepth=0, float maxDepth=0)</div><divclass="ttdoc">Computes 3D keypoints from corresponding 2D points in a stereo image pair.</div></div>
<divclass="ttc"id="anamespacertabmap_1_1util3d_html_acc3c59044fcfdb8cc1fba8a41a0e9eab"><divclass="ttname"><ahref="namespacertabmap_1_1util3d.html#acc3c59044fcfdb8cc1fba8a41a0e9eab">rtabmap::util3d::aggregate</a></div><divclass="ttdeci">std::multimap< int, cv::KeyPoint > RTABMAP_CORE_EXPORT aggregate(const std::list< int >&wordIds, const std::vector< cv::KeyPoint >&keypoints)</div><divclass="ttdoc">Aggregates word IDs and corresponding keypoints into a multimap.</div></div>
<divclass="ttc"id="anamespacertabmap_1_1util3d_html_af34bc7763a1e077a3520f4952ed9d196"><divclass="ttname"><ahref="namespacertabmap_1_1util3d.html#af34bc7763a1e077a3520f4952ed9d196">rtabmap::util3d::generateKeypoints3DDisparity</a></div><divclass="ttdeci">std::vector< cv::Point3f > RTABMAP_CORE_EXPORT generateKeypoints3DDisparity(const std::vector< cv::KeyPoint >&keypoints, const cv::Mat &disparity, const StereoCameraModel &stereoCameraModel, float minDepth=0, float maxDepth=0)</div><divclass="ttdoc">Projects 2D keypoints into 3D space using a disparity image and a stereo camera model.</div></div>
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