i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-07 10:37:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merged Audio branch to trunk

Browse Source 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@560 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2012-06-24 17:19:34 +00:00
parent 06fb556e78
commit 17b8e10ed8
111 changed files with 8370 additions and 9779 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/include/rtabmap/core/EpipolarGeometry.h
+53 -2
View File
@@ -22,12 +22,63 @@
#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
#include <opencv2/core/core.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <list>
#include <vector>
namespace rtabmap
{
//epipolar geometry
void RTABMAP_EXP findEpipolesFromF(const cv::Mat & fundamentalMatrix, cv::Vec3d & e1, cv::Vec3d & e2);
void RTABMAP_EXP findPFromF(const cv::Mat & fundamentalMatrix, cv::Mat & p2, cv::Vec3d e2 = cv::Vec3d());
void RTABMAP_EXP findEpipolesFromF(
const cv::Mat & fundamentalMatrix,
cv::Vec3d & e1,
cv::Vec3d & e2);
cv::Mat RTABMAP_EXP findPFromF(
const cv::Mat & fundamentalMatrix,
const cv::Mat & x1,
const cv::Mat & x2);
// return fundamental matrix
// status -> inliers = 1, outliers = 0
cv::Mat RTABMAP_EXP findFFromWords(
const std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > > & pairs, // id, kpt1, kpt2
std::vector<uchar> & status,
double ransacParam1 = 3.0,
double ransacParam2 = 0.99);
// assume a canonical camera (without K)
void RTABMAP_EXP findRTFromP(
const cv::Mat & p,
cv::Mat & r,
cv::Mat & t);
/**
* 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
*/
int RTABMAP_EXP findPairs(
const std::multimap<int, cv::KeyPoint> & wordsA,
const std::multimap<int, cv::KeyPoint> & wordsB,
std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > > & pairs);
/**
* if a=[1 2 3 4 6 6], b=[1 1 2 4 5 6 6], results= [(2,2) (4,4)]
* realPairsCount = 5
*/
int RTABMAP_EXP findPairsUnique(
const std::multimap<int, cv::KeyPoint> & wordsA,
const std::multimap<int, cv::KeyPoint> & wordsB,
std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > > & pairs);
/**
* 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
*/
int RTABMAP_EXP findPairsAll(
const std::multimap<int, cv::KeyPoint> & wordsA,
const std::multimap<int, cv::KeyPoint> & wordsB,
std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > > & pairs);
} // namespace rtabmap