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Public Member Functions</h2></td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><b>EpipolarGeometry</b> (const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;parameters=<a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>())</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>check</b> (const <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> *ssA, const <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> *ssB)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>parseParameters</b> (const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;parameters)</td></tr>
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<tr class="memitem:afa113c038e111b3343eb650e994fab55" id="r_afa113c038e111b3343eb650e994fab55"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1EpipolarGeometry.html#afa113c038e111b3343eb650e994fab55">getRansacParam1</a> () const</td></tr>
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Static Public Member Functions</h2></td></tr>
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static void&#160;</td><td class="memItemRight" valign="bottom"><b>findEpipolesFromF</b> (const cv::Mat &amp;fundamentalMatrix, cv::Vec3d &amp;e1, cv::Vec3d &amp;e2)</td></tr>
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static cv::Mat&#160;</td><td class="memItemRight" valign="bottom"><b>findPFromE</b> (const cv::Mat &amp;E, const cv::Mat &amp;x, const cv::Mat &amp;xp)</td></tr>
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static cv::Mat&#160;</td><td class="memItemRight" valign="bottom"><b>findFFromWords</b> (const std::list&lt; std::pair&lt; int, std::pair&lt; cv::KeyPoint, cv::KeyPoint &gt; &gt; &gt; &amp;pairs, std::vector&lt; uchar &gt; &amp;status, double ransacReprojThreshold=3.0, double ransacConfidence=0.99)</td></tr>
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static void&#160;</td><td class="memItemRight" valign="bottom"><b>findRTFromP</b> (const cv::Mat &amp;p, cv::Mat &amp;r, cv::Mat &amp;t)</td></tr>
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static cv::Mat&#160;</td><td class="memItemRight" valign="bottom"><b>findFFromCalibratedStereoCameras</b> (double fx, double fy, double cx, double cy, double Tx, double Ty)</td></tr>
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<tr class="memitem:ace979984a7d97ccaa18bf0764318d342"><td class="memTemplItemLeft" align="right" valign="top">static int&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1EpipolarGeometry.html#ace979984a7d97ccaa18bf0764318d342">findPairs</a> (const std::map&lt; int, T &gt; &amp;wordsA, const std::map&lt; int, T &gt; &amp;wordsB, std::list&lt; std::pair&lt; int, std::pair&lt; T, T &gt; &gt; &gt; &amp;pairs, bool ignoreNegativeIds=true)</td></tr>
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<tr class="memitem:adfcc58ee756cb99887c6d8807bc7104c"><td class="memTemplItemLeft" align="right" valign="top">static int&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1EpipolarGeometry.html#adfcc58ee756cb99887c6d8807bc7104c">findPairsAll</a> (const std::multimap&lt; int, T &gt; &amp;wordsA, const std::multimap&lt; int, T &gt; &amp;wordsB, std::list&lt; std::pair&lt; int, std::pair&lt; T, T &gt; &gt; &gt; &amp;pairs, bool ignoreNegativeIds=true)</td></tr>
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static cv::Mat&#160;</td><td class="memItemRight" valign="bottom"><b>linearLSTriangulation</b> (cv::Point3d u, cv::Matx34d P, cv::Point3d u1, cv::Matx34d P1)</td></tr>
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static cv::Mat&#160;</td><td class="memItemRight" valign="bottom"><b>iterativeLinearLSTriangulation</b> (cv::Point3d u, const cv::Matx34d &amp;P, cv::Point3d u1, const cv::Matx34d &amp;P1)</td></tr>
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static double&#160;</td><td class="memItemRight" valign="bottom"><b>triangulatePoints</b> (const cv::Mat &amp;pt_set1, const cv::Mat &amp;pt_set2, const cv::Mat &amp;P, const cv::Mat &amp;P1, pcl::PointCloud&lt; pcl::PointXYZ &gt;::Ptr &amp;pointcloud, std::vector&lt; double &gt; &amp;reproj_errors)</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock">
<p class="definition">Definition at line <a class="el" href="EpipolarGeometry_8h_source.html#l00049">49</a> of file <a class="el" href="EpipolarGeometry_8h_source.html">EpipolarGeometry.h</a>.</p>
</div><h2 class="groupheader">Member Function Documentation</h2>
<a id="a0172efb606ffc65d7903dbf8c3ce8e56" name="a0172efb606ffc65d7903dbf8c3ce8e56"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a0172efb606ffc65d7903dbf8c3ce8e56">&#9670;&#160;</a></span>getMatchCountMinAccepted()</h2>
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<td class="memname">int rtabmap::EpipolarGeometry::getMatchCountMinAccepted </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const</td>
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<p class="definition">Definition at line <a class="el" href="EpipolarGeometry_8h_source.html#l00057">57</a> of file <a class="el" href="EpipolarGeometry_8h_source.html">EpipolarGeometry.h</a>.</p>
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<a id="afa113c038e111b3343eb650e994fab55" name="afa113c038e111b3343eb650e994fab55"></a>
<h2 class="memtitle"><span class="permalink"><a href="#afa113c038e111b3343eb650e994fab55">&#9670;&#160;</a></span>getRansacParam1()</h2>
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<td class="memname">double rtabmap::EpipolarGeometry::getRansacParam1 </td>
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<td class="paramname"></td><td>)</td>
<td> const</td>
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<p class="definition">Definition at line <a class="el" href="EpipolarGeometry_8h_source.html#l00058">58</a> of file <a class="el" href="EpipolarGeometry_8h_source.html">EpipolarGeometry.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#accab495f35611a8c0363dea833dbd347">&#9670;&#160;</a></span>getRansacParam2()</h2>
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<td class="memname">double rtabmap::EpipolarGeometry::getRansacParam2 </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const</td>
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<p class="definition">Definition at line <a class="el" href="EpipolarGeometry_8h_source.html#l00059">59</a> of file <a class="el" href="EpipolarGeometry_8h_source.html">EpipolarGeometry.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a364dd318300aa33bd74186abc99368a5">&#9670;&#160;</a></span>setMatchCountMinAccepted()</h2>
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<td class="memname">void rtabmap::EpipolarGeometry::setMatchCountMinAccepted </td>
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<p class="definition">Definition at line <a class="el" href="EpipolarGeometry_8h_source.html#l00061">61</a> of file <a class="el" href="EpipolarGeometry_8h_source.html">EpipolarGeometry.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="EpipolarGeometry_8h_source.html#l00062">62</a> of file <a class="el" href="EpipolarGeometry_8h_source.html">EpipolarGeometry.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="EpipolarGeometry_8h_source.html#l00063">63</a> of file <a class="el" href="EpipolarGeometry_8h_source.html">EpipolarGeometry.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#ace979984a7d97ccaa18bf0764318d342">&#9670;&#160;</a></span>findPairs() <span class="overload">[1/2]</span></h2>
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<p>if a=[1 2 3 4 6], b=[1 2 4 5 6], results= [(1,1) (2,2) (4,4) (6,6)] realPairsCount = 4 </p>
<p class="definition">Definition at line <a class="el" href="EpipolarGeometry_8h_source.html#l00100">100</a> of file <a class="el" href="EpipolarGeometry_8h_source.html">EpipolarGeometry.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a8fc121340b9d638dc9b8c69f2d86c5e7">&#9670;&#160;</a></span>findPairs() <span class="overload">[2/2]</span></h2>
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<p>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 </p>
<p class="definition">Definition at line <a class="el" href="EpipolarGeometry_8h_source.html#l00128">128</a> of file <a class="el" href="EpipolarGeometry_8h_source.html">EpipolarGeometry.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a7c3886c647a098d33a88640ed2477e24">&#9670;&#160;</a></span>findPairsUnique()</h2>
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<p>if a=[1 2 3 4 6 6], b=[1 1 2 4 5 6 6], results= [(2,2) (4,4)] realPairsCount = 5 </p>
<p class="definition">Definition at line <a class="el" href="EpipolarGeometry_8h_source.html#l00162">162</a> of file <a class="el" href="EpipolarGeometry_8h_source.html">EpipolarGeometry.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#adfcc58ee756cb99887c6d8807bc7104c">&#9670;&#160;</a></span>findPairsAll()</h2>
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<p>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 </p>
<p class="definition">Definition at line <a class="el" href="EpipolarGeometry_8h_source.html#l00197">197</a> of file <a class="el" href="EpipolarGeometry_8h_source.html">EpipolarGeometry.h</a>.</p>
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<hr/>The documentation for this class was generated from the following file:<ul>
<li>corelib/include/rtabmap/core/<a class="el" href="EpipolarGeometry_8h_source.html">EpipolarGeometry.h</a></li>
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