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< div class = "fragment" >< div class = "line" >< a id = "l00001" name = "l00001" ></ a >< span class = "lineno" > 1</ span >< span class = "comment" > /*</ span ></ div >
< div class = "line" >< a id = "l00002" name = "l00002" ></ a >< span class = "lineno" > 2</ span >< span class = "comment" > Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</ span ></ div >
< div class = "line" >< a id = "l00003" name = "l00003" ></ a >< span class = "lineno" > 3</ span >< span class = "comment" > All rights reserved.</ span ></ div >
< div class = "line" >< a id = "l00004" name = "l00004" ></ a >< span class = "lineno" > 4</ span >< span class = "comment" ></ span > </ div >
< div class = "line" >< a id = "l00005" name = "l00005" ></ a >< span class = "lineno" > 5</ span >< span class = "comment" > Redistribution and use in source and binary forms, with or without</ span ></ div >
< div class = "line" >< a id = "l00006" name = "l00006" ></ a >< span class = "lineno" > 6</ span >< span class = "comment" > modification, are permitted provided that the following conditions are met:</ span ></ div >
< div class = "line" >< a id = "l00007" name = "l00007" ></ a >< span class = "lineno" > 7</ span >< span class = "comment" > * Redistributions of source code must retain the above copyright</ span ></ div >
< div class = "line" >< a id = "l00008" name = "l00008" ></ a >< span class = "lineno" > 8</ span >< span class = "comment" > notice, this list of conditions and the following disclaimer.</ span ></ div >
< div class = "line" >< a id = "l00009" name = "l00009" ></ a >< span class = "lineno" > 9</ span >< span class = "comment" > * Redistributions in binary form must reproduce the above copyright</ span ></ div >
< div class = "line" >< a id = "l00010" name = "l00010" ></ a >< span class = "lineno" > 10</ span >< span class = "comment" > notice, this list of conditions and the following disclaimer in the</ span ></ div >
< div class = "line" >< a id = "l00011" name = "l00011" ></ a >< span class = "lineno" > 11</ span >< span class = "comment" > documentation and/or other materials provided with the distribution.</ span ></ div >
< div class = "line" >< a id = "l00012" name = "l00012" ></ a >< span class = "lineno" > 12</ span >< span class = "comment" > * Neither the name of the Universite de Sherbrooke nor the</ span ></ div >
< div class = "line" >< a id = "l00013" name = "l00013" ></ a >< span class = "lineno" > 13</ span >< span class = "comment" > names of its contributors may be used to endorse or promote products</ span ></ div >
< div class = "line" >< a id = "l00014" name = "l00014" ></ a >< span class = "lineno" > 14</ span >< span class = "comment" > derived from this software without specific prior written permission.</ span ></ div >
< div class = "line" >< a id = "l00015" name = "l00015" ></ a >< span class = "lineno" > 15</ span >< span class = "comment" ></ span > </ div >
< div class = "line" >< a id = "l00016" name = "l00016" ></ a >< span class = "lineno" > 16</ span >< span class = "comment" > THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS " AS IS" AND</ span ></ div >
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< div class = "line" >< a id = "l00020" name = "l00020" ></ a >< span class = "lineno" > 20</ span >< span class = "comment" > DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</ span ></ div >
< div class = "line" >< a id = "l00021" name = "l00021" ></ a >< span class = "lineno" > 21</ span >< span class = "comment" > (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</ span ></ div >
< div class = "line" >< a id = "l00022" name = "l00022" ></ a >< span class = "lineno" > 22</ span >< span class = "comment" > LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</ span ></ div >
< div class = "line" >< a id = "l00023" name = "l00023" ></ a >< span class = "lineno" > 23</ span >< span class = "comment" > ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</ span ></ div >
< div class = "line" >< a id = "l00024" name = "l00024" ></ a >< span class = "lineno" > 24</ span >< span class = "comment" > (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</ span ></ div >
< div class = "line" >< a id = "l00025" name = "l00025" ></ a >< span class = "lineno" > 25</ span >< span class = "comment" > SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</ span ></ div >
< div class = "line" >< a id = "l00026" name = "l00026" ></ a >< span class = "lineno" > 26</ span >< span class = "comment" > */</ span ></ div >
< div class = "line" >< a id = "l00027" name = "l00027" ></ a >< span class = "lineno" > 27</ span > </ div >
< div class = "line" >< a id = "l00028" name = "l00028" ></ a >< span class = "lineno" > 28</ span >< span class = "preprocessor" > #ifndef UTIL3D_CORRESPONDENCES_H_</ span ></ div >
< div class = "line" >< a id = "l00029" name = "l00029" ></ a >< span class = "lineno" > 29</ span >< span class = "preprocessor" > #define UTIL3D_CORRESPONDENCES_H_</ span ></ div >
< div class = "line" >< a id = "l00030" name = "l00030" ></ a >< span class = "lineno" > 30</ span > </ div >
< div class = "line" >< a id = "l00031" name = "l00031" ></ a >< span class = "lineno" > 31</ span >< span class = "preprocessor" > #include < rtabmap/core/rtabmap_core_export.h> </ span ></ div >
< div class = "line" >< a id = "l00032" name = "l00032" ></ a >< span class = "lineno" > 32</ span > </ div >
< div class = "line" >< a id = "l00033" name = "l00033" ></ a >< span class = "lineno" > 33</ span >< span class = "preprocessor" > #include < pcl/point_cloud.h> </ span ></ div >
< div class = "line" >< a id = "l00034" name = "l00034" ></ a >< span class = "lineno" > 34</ span >< span class = "preprocessor" > #include < pcl/point_types.h> </ span ></ div >
< div class = "line" >< a id = "l00035" name = "l00035" ></ a >< span class = "lineno" > 35</ span >< span class = "preprocessor" > #include < opencv2/core/version.hpp> </ span ></ div >
< div class = "line" >< a id = "l00036" name = "l00036" ></ a >< span class = "lineno" > 36</ span >< span class = "preprocessor" > #if CV_MAJOR_VERSION < 5</ span ></ div >
< div class = "line" >< a id = "l00037" name = "l00037" ></ a >< span class = "lineno" > 37</ span >< span class = "preprocessor" > #include < opencv2/features2d/features2d.hpp> </ span ></ div >
< div class = "line" >< a id = "l00038" name = "l00038" ></ a >< span class = "lineno" > 38</ span >< span class = "preprocessor" > #else</ span ></ div >
< div class = "line" >< a id = "l00039" name = "l00039" ></ a >< span class = "lineno" > 39</ span >< span class = "preprocessor" > #include < opencv2/features.hpp> </ span ></ div >
< div class = "line" >< a id = "l00040" name = "l00040" ></ a >< span class = "lineno" > 40</ span >< span class = "preprocessor" > #endif</ span ></ div >
< div class = "line" >< a id = "l00041" name = "l00041" ></ a >< span class = "lineno" > 41</ span >< span class = "preprocessor" > #include < set> </ span ></ div >
< div class = "line" >< a id = "l00042" name = "l00042" ></ a >< span class = "lineno" > 42</ span >< span class = "preprocessor" > #include < map> </ span ></ div >
< div class = "line" >< a id = "l00043" name = "l00043" ></ a >< span class = "lineno" > 43</ span >< span class = "preprocessor" > #include < list> </ span ></ div >
< div class = "line" >< a id = "l00044" name = "l00044" ></ a >< span class = "lineno" > 44</ span > </ div >
< div class = "line" >< a id = "l00045" name = "l00045" ></ a >< span class = "lineno" > 45</ span >< span class = "keyword" > namespace </ span >< a class = "code hl_namespace" href = "namespacertabmap.html" > rtabmap</ a ></ div >
< div class = "line" >< a id = "l00046" name = "l00046" ></ a >< span class = "lineno" > 46</ span > {</ div >
< div class = "line" >< a id = "l00047" name = "l00047" ></ a >< span class = "lineno" > 47</ span > </ div >
< div class = "line" >< a id = "l00048" name = "l00048" ></ a >< span class = "lineno" > 48</ span >< span class = "keyword" > namespace </ span > util3d</ div >
< div class = "line" >< a id = "l00049" name = "l00049" ></ a >< span class = "lineno" > 49</ span > {</ div >
< div class = "line" >< a id = "l00050" name = "l00050" ></ a >< span class = "lineno" > 50</ span > </ div >
< div class = "line" >< a id = "l00069" name = "l00069" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#a58b9802c1fc28b7e8927359173f98de8" > 69</ a ></ span >< span class = "keywordtype" > void</ span > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#a58b9802c1fc28b7e8927359173f98de8" > extractXYZCorrespondences</ a > (< span class = "keyword" > const</ span > std::multimap< int, pcl::PointXYZ> & words1,</ div >
< div class = "line" >< a id = "l00070" name = "l00070" ></ a >< span class = "lineno" > 70</ span > < span class = "keyword" > const</ span > std::multimap< int, pcl::PointXYZ> & words2,</ div >
< div class = "line" >< a id = "l00071" name = "l00071" ></ a >< span class = "lineno" > 71</ span > pcl::PointCloud< pcl::PointXYZ> & cloud1,</ div >
< div class = "line" >< a id = "l00072" name = "l00072" ></ a >< span class = "lineno" > 72</ span > pcl::PointCloud< pcl::PointXYZ> & cloud2);</ div >
< div class = "line" >< a id = "l00073" name = "l00073" ></ a >< span class = "lineno" > 73</ span > </ div >
< div class = "line" >< a id = "l00095" name = "l00095" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#ab6a2896e40afacde8cb8b0d10a955e02" > 95</ a ></ span >< span class = "keywordtype" > void</ span > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#ab6a2896e40afacde8cb8b0d10a955e02" > extractXYZCorrespondencesRANSAC</ a > (< span class = "keyword" > const</ span > std::multimap< int, pcl::PointXYZ> & words1,</ div >
< div class = "line" >< a id = "l00096" name = "l00096" ></ a >< span class = "lineno" > 96</ span > < span class = "keyword" > const</ span > std::multimap< int, pcl::PointXYZ> & words2,</ div >
< div class = "line" >< a id = "l00097" name = "l00097" ></ a >< span class = "lineno" > 97</ span > pcl::PointCloud< pcl::PointXYZ> & cloud1,</ div >
< div class = "line" >< a id = "l00098" name = "l00098" ></ a >< span class = "lineno" > 98</ span > pcl::PointCloud< pcl::PointXYZ> & cloud2);</ div >
< div class = "line" >< a id = "l00099" name = "l00099" ></ a >< span class = "lineno" > 99</ span > </ div >
< div class = "line" >< a id = "l00126" name = "l00126" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#a0696277eef10a197af8fd5dcba52fc12" > 126</ a ></ span >< span class = "keywordtype" > void</ span > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#a58b9802c1fc28b7e8927359173f98de8" > extractXYZCorrespondences</ a > (< span class = "keyword" > const</ span > std::list< std::pair< cv::Point2f, cv::Point2f> > & correspondences,</ div >
< div class = "line" >< a id = "l00127" name = "l00127" ></ a >< span class = "lineno" > 127</ span > < span class = "keyword" > const</ span > cv::Mat & depthImage1,</ div >
< div class = "line" >< a id = "l00128" name = "l00128" ></ a >< span class = "lineno" > 128</ span > < span class = "keyword" > const</ span > cv::Mat & depthImage2,</ div >
< div class = "line" >< a id = "l00129" name = "l00129" ></ a >< span class = "lineno" > 129</ span > < span class = "keywordtype" > float</ span > cx, < span class = "keywordtype" > float</ span > cy,</ div >
< div class = "line" >< a id = "l00130" name = "l00130" ></ a >< span class = "lineno" > 130</ span > < span class = "keywordtype" > float</ span > fx, < span class = "keywordtype" > float</ span > fy,</ div >
< div class = "line" >< a id = "l00131" name = "l00131" ></ a >< span class = "lineno" > 131</ span > < span class = "keywordtype" > float</ span > maxDepth,</ div >
< div class = "line" >< a id = "l00132" name = "l00132" ></ a >< span class = "lineno" > 132</ span > pcl::PointCloud< pcl::PointXYZ> & cloud1,</ div >
< div class = "line" >< a id = "l00133" name = "l00133" ></ a >< span class = "lineno" > 133</ span > pcl::PointCloud< pcl::PointXYZ> & cloud2);</ div >
< div class = "line" >< a id = "l00134" name = "l00134" ></ a >< span class = "lineno" > 134</ span > </ div >
< div class = "line" >< a id = "l00152" name = "l00152" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#a340e76117340170fb465ade8b11dd6af" > 152</ a ></ span >< span class = "keywordtype" > void</ span > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#a58b9802c1fc28b7e8927359173f98de8" > extractXYZCorrespondences</ a > (< span class = "keyword" > const</ span > std::list< std::pair< cv::Point2f, cv::Point2f> > & correspondences,</ div >
< div class = "line" >< a id = "l00153" name = "l00153" ></ a >< span class = "lineno" > 153</ span > < span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZ> & cloud1,</ div >
< div class = "line" >< a id = "l00154" name = "l00154" ></ a >< span class = "lineno" > 154</ span > < span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZ> & cloud2,</ div >
< div class = "line" >< a id = "l00155" name = "l00155" ></ a >< span class = "lineno" > 155</ span > pcl::PointCloud< pcl::PointXYZ> & inliers1,</ div >
< div class = "line" >< a id = "l00156" name = "l00156" ></ a >< span class = "lineno" > 156</ span > pcl::PointCloud< pcl::PointXYZ> & inliers2);</ div >
< div class = "line" >< a id = "l00169" name = "l00169" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#a43b6de83939173dfd275cbd17f5d7500" > 169</ a ></ span >< span class = "keywordtype" > void</ span > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#a58b9802c1fc28b7e8927359173f98de8" > extractXYZCorrespondences</ a > (< span class = "keyword" > const</ span > std::list< std::pair< cv::Point2f, cv::Point2f> > & correspondences,</ div >
< div class = "line" >< a id = "l00170" name = "l00170" ></ a >< span class = "lineno" > 170</ span > < span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZRGB> & cloud1,</ div >
< div class = "line" >< a id = "l00171" name = "l00171" ></ a >< span class = "lineno" > 171</ span > < span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZRGB> & cloud2,</ div >
< div class = "line" >< a id = "l00172" name = "l00172" ></ a >< span class = "lineno" > 172</ span > pcl::PointCloud< pcl::PointXYZ> & inliers1,</ div >
< div class = "line" >< a id = "l00173" name = "l00173" ></ a >< span class = "lineno" > 173</ span > pcl::PointCloud< pcl::PointXYZ> & inliers2);</ div >
< div class = "line" >< a id = "l00174" name = "l00174" ></ a >< span class = "lineno" > 174</ span > </ div >
< div class = "line" >< a id = "l00186" name = "l00186" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#af7d4d348836959bbdce0e5db0a4af91c" > 186</ a ></ span >< span class = "keywordtype" > int</ span > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#af7d4d348836959bbdce0e5db0a4af91c" > countUniquePairs</ a > (< span class = "keyword" > const</ span > std::multimap< int, pcl::PointXYZ> & wordsA,</ div >
< div class = "line" >< a id = "l00187" name = "l00187" ></ a >< span class = "lineno" > 187</ span > < span class = "keyword" > const</ span > std::multimap< int, pcl::PointXYZ> & wordsB);</ div >
< div class = "line" >< a id = "l00188" name = "l00188" ></ a >< span class = "lineno" > 188</ span > </ div >
< div class = "line" >< a id = "l00207" name = "l00207" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#a96efcf6ed971e5a5d6b7f9a5e03d1ce3" > 207</ a ></ span >< span class = "keywordtype" > void</ span > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#a96efcf6ed971e5a5d6b7f9a5e03d1ce3" > filterMaxDepth</ a > (pcl::PointCloud< pcl::PointXYZ> & inliers1,</ div >
< div class = "line" >< a id = "l00208" name = "l00208" ></ a >< span class = "lineno" > 208</ span > pcl::PointCloud< pcl::PointXYZ> & inliers2,</ div >
< div class = "line" >< a id = "l00209" name = "l00209" ></ a >< span class = "lineno" > 209</ span > < span class = "keywordtype" > float</ span > maxDepth,</ div >
< div class = "line" >< a id = "l00210" name = "l00210" ></ a >< span class = "lineno" > 210</ span > < span class = "keywordtype" > char</ span > depthAxis,</ div >
< div class = "line" >< a id = "l00211" name = "l00211" ></ a >< span class = "lineno" > 211</ span > < span class = "keywordtype" > bool</ span > removeDuplicates);</ div >
< div class = "line" >< a id = "l00212" name = "l00212" ></ a >< span class = "lineno" > 212</ span > </ div >
< div class = "line" >< a id = "l00229" name = "l00229" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#a188c2a13980f6b7d85e6e0804a38cb50" > 229</ a ></ span >< span class = "keywordtype" > void</ span > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#a188c2a13980f6b7d85e6e0804a38cb50" > findCorrespondences</ a > (</ div >
< div class = "line" >< a id = "l00230" name = "l00230" ></ a >< span class = "lineno" > 230</ span > < span class = "keyword" > const</ span > std::multimap< int, cv::KeyPoint> & wordsA,</ div >
< div class = "line" >< a id = "l00231" name = "l00231" ></ a >< span class = "lineno" > 231</ span > < span class = "keyword" > const</ span > std::multimap< int, cv::KeyPoint> & wordsB,</ div >
< div class = "line" >< a id = "l00232" name = "l00232" ></ a >< span class = "lineno" > 232</ span > std::list< std::pair< cv::Point2f, cv::Point2f> > & pairs);</ div >
< div class = "line" >< a id = "l00233" name = "l00233" ></ a >< span class = "lineno" > 233</ span > </ div >
< div class = "line" >< a id = "l00250" name = "l00250" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#ac466a705ab9ee7d99f23842cd71f3c96" > 250</ a ></ span >< span class = "keywordtype" > void</ span > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#a188c2a13980f6b7d85e6e0804a38cb50" > findCorrespondences</ a > (</ div >
< div class = "line" >< a id = "l00251" name = "l00251" ></ a >< span class = "lineno" > 251</ span > < span class = "keyword" > const</ span > std::multimap< int, cv::Point3f> & words1,</ div >
< div class = "line" >< a id = "l00252" name = "l00252" ></ a >< span class = "lineno" > 252</ span > < span class = "keyword" > const</ span > std::multimap< int, cv::Point3f> & words2,</ div >
< div class = "line" >< a id = "l00253" name = "l00253" ></ a >< span class = "lineno" > 253</ span > std::vector< cv::Point3f> & inliers1,</ div >
< div class = "line" >< a id = "l00254" name = "l00254" ></ a >< span class = "lineno" > 254</ span > std::vector< cv::Point3f> & inliers2,</ div >
< div class = "line" >< a id = "l00255" name = "l00255" ></ a >< span class = "lineno" > 255</ span > < span class = "keywordtype" > float</ span > maxDepth,</ div >
< div class = "line" >< a id = "l00256" name = "l00256" ></ a >< span class = "lineno" > 256</ span > std::vector< int> * uniqueCorrespondences = 0);</ div >
< div class = "line" >< a id = "l00257" name = "l00257" ></ a >< span class = "lineno" > 257</ span > </ div >
< div class = "line" >< a id = "l00273" name = "l00273" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#a5c07f098f9f5ba889e18d22b927f3cd4" > 273</ a ></ span >< span class = "keywordtype" > void</ span > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#a188c2a13980f6b7d85e6e0804a38cb50" > findCorrespondences</ a > (</ div >
< div class = "line" >< a id = "l00274" name = "l00274" ></ a >< span class = "lineno" > 274</ span > < span class = "keyword" > const</ span > std::map< int, cv::Point3f> & words1,</ div >
< div class = "line" >< a id = "l00275" name = "l00275" ></ a >< span class = "lineno" > 275</ span > < span class = "keyword" > const</ span > std::map< int, cv::Point3f> & words2,</ div >
< div class = "line" >< a id = "l00276" name = "l00276" ></ a >< span class = "lineno" > 276</ span > std::vector< cv::Point3f> & inliers1,</ div >
< div class = "line" >< a id = "l00277" name = "l00277" ></ a >< span class = "lineno" > 277</ span > std::vector< cv::Point3f> & inliers2,</ div >
< div class = "line" >< a id = "l00278" name = "l00278" ></ a >< span class = "lineno" > 278</ span > < span class = "keywordtype" > float</ span > maxDepth,</ div >
< div class = "line" >< a id = "l00279" name = "l00279" ></ a >< span class = "lineno" > 279</ span > std::vector< int> * correspondences = 0);</ div >
< div class = "line" >< a id = "l00280" name = "l00280" ></ a >< span class = "lineno" > 280</ span > </ div >
< div class = "line" >< a id = "l00281" name = "l00281" ></ a >< span class = "lineno" > 281</ span > } < span class = "comment" > // namespace util3d</ span ></ div >
< div class = "line" >< a id = "l00282" name = "l00282" ></ a >< span class = "lineno" > 282</ span > } < span class = "comment" > // namespace rtabmap</ span ></ div >
< div class = "line" >< a id = "l00283" name = "l00283" ></ a >< span class = "lineno" > 283</ span > </ div >
< div class = "line" >< a id = "l00284" name = "l00284" ></ a >< span class = "lineno" > 284</ span >< span class = "preprocessor" > #endif </ span >< span class = "comment" > /* UTIL3D_CORRESPONDENCES_H_ */</ span >< span class = "preprocessor" ></ span ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1util3d_html_a188c2a13980f6b7d85e6e0804a38cb50" >< div class = "ttname" >< a href = "namespacertabmap_1_1util3d.html#a188c2a13980f6b7d85e6e0804a38cb50" > rtabmap::util3d::findCorrespondences</ a ></ div >< div class = "ttdeci" > 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)</ div >< div class = "ttdoc" > Finds 2D point correspondences between two sets of keypoints based on matching word IDs.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1util3d_html_a58b9802c1fc28b7e8927359173f98de8" >< div class = "ttname" >< a href = "namespacertabmap_1_1util3d.html#a58b9802c1fc28b7e8927359173f98de8" > rtabmap::util3d::extractXYZCorrespondences</ a ></ div >< div class = "ttdeci" > 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)</ div >< div class = "ttdoc" > Extracts 3D point correspondences between two sets of labeled 3D points.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1util3d_html_a96efcf6ed971e5a5d6b7f9a5e03d1ce3" >< div class = "ttname" >< a href = "namespacertabmap_1_1util3d.html#a96efcf6ed971e5a5d6b7f9a5e03d1ce3" > rtabmap::util3d::filterMaxDepth</ a ></ div >< div class = "ttdeci" > void RTABMAP_CORE_EXPORT filterMaxDepth(pcl::PointCloud< pcl::PointXYZ > & inliers1, pcl::PointCloud< pcl::PointXYZ > & inliers2, float maxDepth, char depthAxis, bool removeDuplicates)</ div >< div class = "ttdoc" > Filters pairs of 3D points by maximum depth along a specified axis and optionally removes duplicates.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1util3d_html_ab6a2896e40afacde8cb8b0d10a955e02" >< div class = "ttname" >< a href = "namespacertabmap_1_1util3d.html#ab6a2896e40afacde8cb8b0d10a955e02" > rtabmap::util3d::extractXYZCorrespondencesRANSAC</ a ></ div >< div class = "ttdeci" > 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)</ div >< div class = "ttdoc" > Extracts reliable 3D point correspondences between two sets of labeled 3D points using RANSAC filteri...</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1util3d_html_af7d4d348836959bbdce0e5db0a4af91c" >< div class = "ttname" >< a href = "namespacertabmap_1_1util3d.html#af7d4d348836959bbdce0e5db0a4af91c" > rtabmap::util3d::countUniquePairs</ a ></ div >< div class = "ttdeci" > int RTABMAP_CORE_EXPORT countUniquePairs(const std::multimap< int, pcl::PointXYZ > & wordsA, const std::multimap< int, pcl::PointXYZ > & wordsB)</ div >< div class = "ttdoc" > Counts the number of unique 3D point correspondences between two sets of word-indexed features.</ div ></ div >
2026-08-23 20:27:42 +00:00
< div class = "ttc" id = "anamespacertabmap_html" >< div class = "ttname" >< a href = "namespacertabmap.html" > rtabmap</ a ></ div >< div class = "ttdef" >< b > Definition</ b > < a href = "BayesFilter_8h_source.html#l00042" > BayesFilter.h:42</ a ></ div ></ div >
2026-08-06 22:56:24 +00:00
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