i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

added EpipolarGeometry::triangulatePoints() (LS and iterative LS)

Browse Source 
Added option to see words3d in constraint view

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1974 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-11-07 20:04:04 +00:00
parent b5dc120bb9
commit 7efc6aab2d
7 changed files with 303 additions and 52 deletions
Download Patch File Download Diff File Expand all files Collapse all files

22
corelib/include/rtabmap/core/EpipolarGeometry.h
View File

@@ -31,6 +31,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/Parameters.h"
#include <opencv2/core/core.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <list>
#include <vector>
@@ -111,6 +113,26 @@ public:
const std::multimap<int, cv::KeyPoint> & wordsB,
std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > > & pairs);
static cv::Mat linearLSTriangulation(
cv::Point3d u, //homogenous image point (u,v,1)
cv::Matx34d P, //camera 1 matrix 3x4 double
cv::Point3d u1, //homogenous image point in 2nd camera
cv::Matx34d P1); //camera 2 matrix 3x4 double
static cv::Mat iterativeLinearLSTriangulation(
cv::Point3d u, //homogenous image point (u,v,1)
const cv::Matx34d & P, //camera 1 matrix 3x4 double
cv::Point3d u1, //homogenous image point in 2nd camera
const cv::Matx34d & P1); //camera 2 matrix 3x4 double
static double triangulatePoints(
const std::vector<cv::Point2f>& pt_set1,
const std::vector<cv::Point2f>& pt_set2,
const cv::Mat& P, // 3x4 double
const cv::Mat& P1, // 3x4 double
pcl::PointCloud<pcl::PointXYZ>::Ptr & pointcloud,
std::vector<double> & reproj_errors);
private:
int _matchCountMinAccepted;
double _ransacParam1;