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Preview for PR #1492 c82721341cb6b9be5ea6c74e1c195f07d4187738
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<div id="projectname">RTAB-Map<span id="projectnumber"> 0.23.10</span>
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</div>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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<li class="navelem"><a class="el" href="dir_04d49acea3c42cab2afcd35cb2f2a48f.html">corelib</a></li><li class="navelem"><a class="el" href="dir_e996b11fd4b3a747423759b16a8ba4a6.html">include</a></li><li class="navelem"><a class="el" href="dir_ff01f7bc5399ccf9ff1cc91d1f45726a.html">rtabmap</a></li><li class="navelem"><a class="el" href="dir_884419f21456e80aa47bc1d0c2ab0140.html">core</a></li> </ul>
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<div class="headertitle"><div class="title">util3d_features.h</div></div>
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@@ -135,30 +152,30 @@ $(document).ready(function() { init_codefold(0); });
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<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span><span class="keyword">namespace </span>util3d</div>
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<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span>{</div>
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<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span> </div>
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<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span>std::vector<cv::Point3f> RTABMAP_CORE_EXPORT generateKeypoints3DDepth(</div>
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<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a785db0d55f5eccf209b9d3d712ec92b2"> 75</a></span>std::vector<cv::Point3f> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a785db0d55f5eccf209b9d3d712ec92b2">generateKeypoints3DDepth</a>(</div>
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<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> <span class="keyword">const</span> std::vector<cv::KeyPoint> & keypoints,</div>
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<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> <span class="keyword">const</span> cv::Mat & depth,</div>
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<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> <span class="keyword">const</span> std::vector<CameraModel> & cameraModels,</div>
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<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> <span class="keywordtype">float</span> minDepth = 0,</div>
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<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> <span class="keywordtype">float</span> maxDepth = 0);</div>
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<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span>std::vector<cv::Point3f> RTABMAP_CORE_EXPORT generateKeypoints3DDepth(</div>
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<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a4f938d094d62997e0fb5d53c59f7ef82"> 86</a></span>std::vector<cv::Point3f> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a785db0d55f5eccf209b9d3d712ec92b2">generateKeypoints3DDepth</a>(</div>
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<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> <span class="keyword">const</span> std::vector<cv::KeyPoint> & keypoints,</div>
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<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> <span class="keyword">const</span> cv::Mat & depth,</div>
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<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> <span class="keyword">const</span> CameraModel & cameraModel,</div>
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<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a> & cameraModel,</div>
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<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> <span class="keywordtype">float</span> minDepth = 0,</div>
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<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> <span class="keywordtype">float</span> maxDepth = 0);</div>
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<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> </div>
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<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span>std::vector<cv::Point3f> RTABMAP_CORE_EXPORT generateKeypoints3DDisparity(</div>
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<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#af34bc7763a1e077a3520f4952ed9d196"> 116</a></span>std::vector<cv::Point3f> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#af34bc7763a1e077a3520f4952ed9d196">generateKeypoints3DDisparity</a>(</div>
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<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> <span class="keyword">const</span> std::vector<cv::KeyPoint> & keypoints,</div>
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<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> <span class="keyword">const</span> cv::Mat & disparity,</div>
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<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> <span class="keyword">const</span> StereoCameraModel & stereoCameraModel,</div>
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<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1StereoCameraModel.html">StereoCameraModel</a> & stereoCameraModel,</div>
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<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> <span class="keywordtype">float</span> minDepth = 0,</div>
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<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> <span class="keywordtype">float</span> maxDepth = 0);</div>
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<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> </div>
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<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span>std::vector<cv::Point3f> RTABMAP_CORE_EXPORT generateKeypoints3DStereo(</div>
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<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a7d48db86fe2f0cfc9abc974a66be8695"> 153</a></span>std::vector<cv::Point3f> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a7d48db86fe2f0cfc9abc974a66be8695">generateKeypoints3DStereo</a>(</div>
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<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> <span class="keyword">const</span> std::vector<cv::Point2f> & leftCorners,</div>
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<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> <span class="keyword">const</span> std::vector<cv::Point2f> & rightCorners,</div>
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<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> <span class="keyword">const</span> StereoCameraModel & model,</div>
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<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1StereoCameraModel.html">StereoCameraModel</a> & model,</div>
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<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> <span class="keyword">const</span> std::vector<unsigned char> & mask = std::vector<unsigned char>(),</div>
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<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> <span class="keywordtype">float</span> minDepth = 0,</div>
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<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> <span class="keywordtype">float</span> maxDepth = 0);</div>
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@@ -166,8 +183,8 @@ $(document).ready(function() { init_codefold(0); });
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<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span>std::map<int, cv::Point3f> RTABMAP_CORE_EXPORT generateWords3DMono(</div>
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<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> <span class="keyword">const</span> std::map<int, cv::KeyPoint> & kpts,</div>
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<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> <span class="keyword">const</span> std::map<int, cv::KeyPoint> & previousKpts,</div>
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<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> <span class="keyword">const</span> CameraModel & cameraModel,</div>
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<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span> Transform & cameraTransform,</div>
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<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a> & cameraModel,</div>
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<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & cameraTransform,</div>
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<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> <span class="keywordtype">float</span> ransacReprojThreshold = 3.0f,</div>
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<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> <span class="keywordtype">float</span> ransacConfidence = 0.99f,</div>
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<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> <span class="keywordtype">int</span> varianceMedianRatio = 4,</div>
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@@ -175,7 +192,7 @@ $(document).ready(function() { init_codefold(0); });
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<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> <span class="keywordtype">double</span> * variance = 0,</div>
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<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> std::vector<int> * matchesOut = 0);</div>
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<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> </div>
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<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span>std::multimap<int, cv::KeyPoint> RTABMAP_CORE_EXPORT aggregate(</div>
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<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#acc3c59044fcfdb8cc1fba8a41a0e9eab"> 190</a></span>std::multimap<int, cv::KeyPoint> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#acc3c59044fcfdb8cc1fba8a41a0e9eab">aggregate</a>(</div>
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<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> <span class="keyword">const</span> std::list<int> & wordIds,</div>
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<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span> <span class="keyword">const</span> std::vector<cv::KeyPoint> & keypoints);</div>
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<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> </div>
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@@ -183,11 +200,22 @@ $(document).ready(function() { init_codefold(0); });
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<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span>} <span class="comment">// namespace rtabmap</span></div>
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<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> </div>
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<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span><span class="preprocessor">#endif </span><span class="comment">/* UTIL3D_FEATURES_H_ */</span><span class="preprocessor"></span></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html">rtabmap::CameraModel</a></div><div class="ttdoc">Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection,...</div><div class="ttdef"><b>Definition</b> <a href="CameraModel_8h_source.html#l00052">CameraModel.h:53</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html">rtabmap::StereoCameraModel</a></div><div class="ttdoc">A class representing a calibrated stereo camera system.</div><div class="ttdef"><b>Definition</b> <a href="StereoCameraModel_8h_source.html#l00053">StereoCameraModel.h:54</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Transform_html"><div class="ttname"><a href="classrtabmap_1_1Transform.html">rtabmap::Transform</a></div><div class="ttdoc">Represents a 3D rigid body transformation (rotation + translation).</div><div class="ttdef"><b>Definition</b> <a href="Transform_8h_source.html#l00052">Transform.h:53</a></div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a785db0d55f5eccf209b9d3d712ec92b2"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a785db0d55f5eccf209b9d3d712ec92b2">rtabmap::util3d::generateKeypoints3DDepth</a></div><div class="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><div class="ttdoc">Projects 2D keypoints to 3D space using the provided depth image and camera models.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a7d48db86fe2f0cfc9abc974a66be8695"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a7d48db86fe2f0cfc9abc974a66be8695">rtabmap::util3d::generateKeypoints3DStereo</a></div><div class="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><div class="ttdoc">Computes 3D keypoints from corresponding 2D points in a stereo image pair.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_acc3c59044fcfdb8cc1fba8a41a0e9eab"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#acc3c59044fcfdb8cc1fba8a41a0e9eab">rtabmap::util3d::aggregate</a></div><div class="ttdeci">std::multimap< int, cv::KeyPoint > RTABMAP_CORE_EXPORT aggregate(const std::list< int > &wordIds, const std::vector< cv::KeyPoint > &keypoints)</div><div class="ttdoc">Aggregates word IDs and corresponding keypoints into a multimap.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_af34bc7763a1e077a3520f4952ed9d196"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#af34bc7763a1e077a3520f4952ed9d196">rtabmap::util3d::generateKeypoints3DDisparity</a></div><div class="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><div class="ttdoc">Projects 2D keypoints into 3D space using a disparity image and a stereo camera model.</div></div>
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<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#l00039">BayesFilter.h:39</a></div></div>
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