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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 id="projectbrief">Real-Time Appearance-Based Mapping</div>
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/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
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$(document).ready(function(){initNavTree('util3d__motion__estimation_8h_source.html',''); initResizable(); });
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<div id="nav-path" class="navpath">
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<ul>
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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="header">
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<div class="headertitle"><div class="title">util3d_motion_estimation.h</div></div>
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@@ -126,14 +143,14 @@ $(document).ready(function() { init_codefold(0); });
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<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span><span class="keyword">namespace </span>util3d</div>
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<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span>{</div>
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<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span> </div>
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<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT setRansacDeterministicSeed(<span class="keywordtype">bool</span> enable);</div>
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<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> </div>
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<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span><span class="keywordtype">bool</span> RTABMAP_CORE_EXPORT ransacDeterministicSeedEnabled();</div>
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<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> </div>
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<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span>Transform RTABMAP_CORE_EXPORT estimateMotion3DTo2D(</div>
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<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a5f95aa913b08b0d0f12e9fc02b087692"> 65</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a5f95aa913b08b0d0f12e9fc02b087692">setRansacDeterministicSeed</a>(<span class="keywordtype">bool</span> enable);</div>
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<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> </div>
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<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#ad918f390fa8b4d331561d5a00d61ea7b"> 68</a></span><span class="keywordtype">bool</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#ad918f390fa8b4d331561d5a00d61ea7b">ransacDeterministicSeedEnabled</a>();</div>
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<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> </div>
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<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a94321442a82f05368f8fd9c9a998284e"> 105</a></span><a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a94321442a82f05368f8fd9c9a998284e">estimateMotion3DTo2D</a>(</div>
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<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> <span class="keyword">const</span> std::map<int, cv::Point3f> & words3A,</div>
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<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> <span class="keyword">const</span> std::map<int, cv::KeyPoint> & words2B,</div>
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<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> <span class="keyword">const</span> CameraModel & cameraModel,</div>
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<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</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="l00109" name="l00109"></a><span class="lineno"> 109</span> <span class="keywordtype">int</span> minInliers = 10,</div>
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<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> <span class="keywordtype">int</span> iterations = 100,</div>
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<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> <span class="keywordtype">double</span> reprojError = 5.,</div>
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@@ -141,14 +158,14 @@ $(document).ready(function() { init_codefold(0); });
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<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> <span class="keywordtype">int</span> pnpRefineIterations = 1,</div>
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<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> <span class="keywordtype">int</span> varianceMedianRatio = 4,</div>
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<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> <span class="keywordtype">float</span> maxVariance = 0,</div>
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<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> <span class="keyword">const</span> Transform & guess = <a class="code hl_function" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>(),</div>
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<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & guess = <a class="code hl_function" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</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::map<int, cv::Point3f> & words3B = std::map<int, cv::Point3f>(),</div>
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<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> cv::Mat * covariance = 0, <span class="comment">// mean reproj error if words3B is not set</span></div>
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<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> std::vector<int> * matchesOut = 0,</div>
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<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> std::vector<int> * inliersOut = 0,</div>
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<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> <span class="keywordtype">bool</span> splitLinearCovarianceComponents = <span class="keyword">false</span>);</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="l00157" name="l00157"></a><span class="lineno"> 157</span>Transform RTABMAP_CORE_EXPORT estimateMotion3DTo2D(</div>
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<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a3fffe99bf880decfb8a9f60ff7b882bd"> 157</a></span><a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a94321442a82f05368f8fd9c9a998284e">estimateMotion3DTo2D</a>(</div>
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<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> <span class="keyword">const</span> std::map<int, cv::Point3f> & words3A,</div>
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<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> <span class="keyword">const</span> std::map<int, cv::KeyPoint> & words2B,</div>
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<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> <span class="keyword">const</span> std::vector<CameraModel> & cameraModels,</div>
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@@ -160,13 +177,13 @@ $(document).ready(function() { init_codefold(0); });
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<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> <span class="keywordtype">int</span> refineIterations,</div>
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<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> <span class="keywordtype">int</span> varianceMedianRatio,</div>
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<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> <span class="keywordtype">float</span> maxVariance,</div>
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<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> <span class="keyword">const</span> Transform & guess,</div>
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<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & guess,</div>
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<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> <span class="keyword">const</span> std::map<int, cv::Point3f> & words3B,</div>
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<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> cv::Mat * covariance,</div>
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<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> std::vector<std::vector<int> > * matchesOut,</div>
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<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> std::vector<std::vector<int> > * inliersOut,</div>
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<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> <span class="keywordtype">bool</span> splitLinearCovarianceComponents);</div>
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<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span>Transform RTABMAP_CORE_EXPORT estimateMotion3DTo2D(</div>
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<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a0a1a57cb2be47c4b6670672b2a0a5a93"> 179</a></span><a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a94321442a82f05368f8fd9c9a998284e">estimateMotion3DTo2D</a>(</div>
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<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> <span class="keyword">const</span> std::map<int, cv::Point3f> & words3A,</div>
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<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> <span class="keyword">const</span> std::map<int, cv::KeyPoint> & words2B,</div>
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<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> <span class="keyword">const</span> std::vector<CameraModel> & cameraModels,</div>
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@@ -178,14 +195,14 @@ $(document).ready(function() { init_codefold(0); });
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<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> <span class="keywordtype">int</span> pnpRefineIterations = 1,</div>
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<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> <span class="keywordtype">int</span> varianceMedianRatio = 4,</div>
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<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> <span class="keywordtype">float</span> maxVariance = 0,</div>
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<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> <span class="keyword">const</span> Transform & guess = <a class="code hl_function" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</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> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & guess = <a class="code hl_function" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>(),</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::map<int, cv::Point3f> & words3B = std::map<int, cv::Point3f>(),</div>
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<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> cv::Mat * covariance = 0, <span class="comment">// mean reproj error if words3B is not set</span></div>
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<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span> std::vector<int> * matchesOut = 0,</div>
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<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span> std::vector<int> * inliersOut = 0,</div>
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<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> <span class="keywordtype">bool</span> splitLinearCovarianceComponents = <span class="keyword">false</span>);</div>
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<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span> </div>
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<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span>Transform RTABMAP_CORE_EXPORT estimateMotion3DTo3D(</div>
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<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a717fefeecb331b1dddc3ec3b4f6beb3a"> 219</a></span><a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a717fefeecb331b1dddc3ec3b4f6beb3a">estimateMotion3DTo3D</a>(</div>
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<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span> <span class="keyword">const</span> std::map<int, cv::Point3f> & words3A,</div>
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<div class="line"><a id="l00221" name="l00221"></a><span class="lineno"> 221</span> <span class="keyword">const</span> std::map<int, cv::Point3f> & words3B,</div>
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<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"> 222</span> <span class="keywordtype">int</span> minInliers = 10,</div>
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@@ -196,7 +213,7 @@ $(document).ready(function() { init_codefold(0); });
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<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span> std::vector<int> * matchesOut = 0,</div>
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<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span> std::vector<int> * inliersOut = 0);</div>
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<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span> </div>
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<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"> 260</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT solvePnPRansac(</div>
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<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#ad426e396a196d6f69a004bb55982f9f7"> 260</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#ad426e396a196d6f69a004bb55982f9f7">solvePnPRansac</a>(</div>
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<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"> 261</span> <span class="keyword">const</span> std::vector<cv::Point3f> & objectPoints,</div>
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<div class="line"><a id="l00262" name="l00262"></a><span class="lineno"> 262</span> <span class="keyword">const</span> std::vector<cv::Point2f> & imagePoints,</div>
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<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"> 263</span> <span class="keyword">const</span> cv::Mat & cameraMatrix,</div>
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@@ -216,12 +233,23 @@ $(document).ready(function() { init_codefold(0); });
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<div class="line"><a id="l00277" name="l00277"></a><span class="lineno"> 277</span>} <span class="comment">// namespace rtabmap</span></div>
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<div class="line"><a id="l00278" name="l00278"></a><span class="lineno"> 278</span> </div>
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<div class="line"><a id="l00279" name="l00279"></a><span class="lineno"> 279</span><span class="preprocessor">#endif </span><span class="comment">/* UTIL3D_TRANSFORMS_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_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="aclassrtabmap_1_1Transform_html_a8ea4368f2018d751d2733038081d56a2"><div class="ttname"><a href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">rtabmap::Transform::getIdentity</a></div><div class="ttdeci">static Transform getIdentity()</div><div class="ttdoc">Returns identity transform.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a5f95aa913b08b0d0f12e9fc02b087692"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a5f95aa913b08b0d0f12e9fc02b087692">rtabmap::util3d::setRansacDeterministicSeed</a></div><div class="ttdeci">void RTABMAP_CORE_EXPORT setRansacDeterministicSeed(bool enable)</div><div class="ttdoc">Toggle a deterministic seed for OpenGV's internal RANSAC RNG.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a717fefeecb331b1dddc3ec3b4f6beb3a"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a717fefeecb331b1dddc3ec3b4f6beb3a">rtabmap::util3d::estimateMotion3DTo3D</a></div><div class="ttdeci">Transform RTABMAP_CORE_EXPORT estimateMotion3DTo3D(const std::map< int, cv::Point3f > &words3A, const std::map< int, cv::Point3f > &words3B, int minInliers=10, double inliersDistance=0.1, int iterations=100, int refineIterations=5, cv::Mat *covariance=0, std::vector< int > *matchesOut=0, std::vector< int > *inliersOut=0)</div><div class="ttdoc">Estimates the 3D rigid transformation between two sets of 3D points.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a94321442a82f05368f8fd9c9a998284e"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a94321442a82f05368f8fd9c9a998284e">rtabmap::util3d::estimateMotion3DTo2D</a></div><div class="ttdeci">Transform RTABMAP_CORE_EXPORT estimateMotion3DTo2D(const std::map< int, cv::Point3f > &words3A, const std::map< int, cv::KeyPoint > &words2B, const CameraModel &cameraModel, int minInliers=10, int iterations=100, double reprojError=5., int flagsPnP=0, int pnpRefineIterations=1, int varianceMedianRatio=4, float maxVariance=0, const Transform &guess=Transform::getIdentity(), const std::map< int, cv::Point3f > &words3B=std::map< int, cv::Point3f >(), cv::Mat *covariance=0, std::vector< int > *matchesOut=0, std::vector< int > *inliersOut=0, bool splitLinearCovarianceComponents=false)</div><div class="ttdoc">Estimates a 6-DOF camera transform from 3D-2D point correspondences using PnP RANSAC.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_ad426e396a196d6f69a004bb55982f9f7"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#ad426e396a196d6f69a004bb55982f9f7">rtabmap::util3d::solvePnPRansac</a></div><div class="ttdeci">void RTABMAP_CORE_EXPORT solvePnPRansac(const std::vector< cv::Point3f > &objectPoints, const std::vector< cv::Point2f > &imagePoints, const cv::Mat &cameraMatrix, const cv::Mat &distCoeffs, cv::Mat &rvec, cv::Mat &tvec, bool useExtrinsicGuess, int iterationsCount, float reprojectionError, int minInliersCount, std::vector< int > &inliers, int flags, int refineIterations=1, float refineSigma=3.0f)</div><div class="ttdoc">Estimates the camera pose using the PnP RANSAC algorithm and optionally refines it.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_ad918f390fa8b4d331561d5a00d61ea7b"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#ad918f390fa8b4d331561d5a00d61ea7b">rtabmap::util3d::ransacDeterministicSeedEnabled</a></div><div class="ttdeci">bool RTABMAP_CORE_EXPORT ransacDeterministicSeedEnabled()</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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