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@@ -245,7 +245,7 @@ $(document).ready(function(){initNavTree('util3d__motion__estimation_8h_source.h
<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&lt; int, cv::Point3f &gt; &amp;words3A, const std::map&lt; int, cv::KeyPoint &gt; &amp;words2B, const CameraModel &amp;cameraModel, int minInliers=10, int iterations=100, double reprojError=5., int flagsPnP=0, int pnpRefineIterations=1, int varianceMedianRatio=4, float maxVariance=0, const Transform &amp;guess=Transform::getIdentity(), const std::map&lt; int, cv::Point3f &gt; &amp;words3B=std::map&lt; int, cv::Point3f &gt;(), cv::Mat *covariance=0, std::vector&lt; int &gt; *matchesOut=0, std::vector&lt; int &gt; *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>
<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&lt; cv::Point3f &gt; &amp;objectPoints, const std::vector&lt; cv::Point2f &gt; &amp;imagePoints, const cv::Mat &amp;cameraMatrix, const cv::Mat &amp;distCoeffs, cv::Mat &amp;rvec, cv::Mat &amp;tvec, bool useExtrinsicGuess, int iterationsCount, float reprojectionError, int minInliersCount, std::vector&lt; int &gt; &amp;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>
<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>
<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#l00041">BayesFilter.h:41</a></div></div>
<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>
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