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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment">Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment">All rights reserved.</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"></span> </div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment">Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment">modification, are permitted provided that the following conditions are met:</span></div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment"> * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment"> notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment"> * Redistributions in binary form must reproduce the above copyright</span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> notice, this list of conditions and the following disclaimer in the</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="comment"> documentation and/or other materials provided with the distribution.</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment"> * Neither the name of the Universite de Sherbrooke nor the</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment"> names of its contributors may be used to endorse or promote products</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="comment"> derived from this software without specific prior written permission.</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"></span> </div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment">THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS IS&quot; AND</span></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment">ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="comment">WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="comment">DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment">DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="comment">(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="comment">LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</span></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="comment">ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="comment">(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="comment">SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment">*/</span></div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span> </div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="preprocessor">#pragma once</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span> </div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span><span class="preprocessor">#include &quot;rtabmap/core/rtabmap_core_export.h&quot;</span> <span class="comment">// DLL export/import defines</span></div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span><span class="preprocessor">#include &quot;rtabmap/core/Parameters.h&quot;</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span><span class="preprocessor">#include &quot;<a class="code" href="UStl_8h.html">rtabmap/utilite/UStl.h</a>&quot;</span></div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="preprocessor">#include &lt;opencv2/core/core.hpp&gt;</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="preprocessor">#if CV_MAJOR_VERSION &lt; 5</span></div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="preprocessor">#include &lt;opencv2/features2d/features2d.hpp&gt;</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span><span class="preprocessor">#else</span></div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="preprocessor">#include &lt;opencv2/features.hpp&gt;</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="preprocessor">#endif</span></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span><span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="preprocessor">#include &lt;pcl/point_types.h&gt;</span></div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="preprocessor">#include &lt;list&gt;</span></div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span> </div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a></div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span>{</div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> </div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span><span class="keyword">class </span>Signature;</div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span> </div>
<div class="foldopen" id="foldopen00049" data-start="{" data-end="};">
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"><a class="line" href="classrtabmap_1_1EpipolarGeometry.html"> 49</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1EpipolarGeometry.html">EpipolarGeometry</a></div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span>{</div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span> <a class="code hl_class" href="classrtabmap_1_1EpipolarGeometry.html">EpipolarGeometry</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1EpipolarGeometry.html">~EpipolarGeometry</a>();</div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span> <span class="keywordtype">bool</span> check(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> * ssA, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> * ssB);</div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> <span class="keywordtype">void</span> parseParameters(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters);</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> </div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span> <span class="keywordtype">int</span> getMatchCountMinAccepted()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _matchCountMinAccepted;}</div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> <span class="keywordtype">double</span> getRansacParam1()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _ransacParam1;}</div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> <span class="keywordtype">double</span> getRansacParam2()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _ransacParam2;}</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> </div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> <span class="keywordtype">void</span> setMatchCountMinAccepted(<span class="keywordtype">int</span> matchCountMinAccepted) {_matchCountMinAccepted = matchCountMinAccepted;}</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> <span class="keywordtype">void</span> setRansacParam1(<span class="keywordtype">double</span> ransacParam1) {_ransacParam1 = ransacParam1;}</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> <span class="keywordtype">void</span> setRansacParam2(<span class="keywordtype">double</span> ransacParam2) {_ransacParam2 = ransacParam2;}</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> </div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> </div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> <span class="comment">// STATIC STUFF</span></div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> <span class="comment">//epipolar geometry</span></div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> <span class="keyword">static</span> <span class="keywordtype">void</span> findEpipolesFromF(</div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> <span class="keyword">const</span> cv::Mat &amp; fundamentalMatrix,</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> cv::Vec3d &amp; e1,</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> cv::Vec3d &amp; e2);</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> </div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> <span class="keyword">static</span> cv::Mat findPFromE(</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> <span class="keyword">const</span> cv::Mat &amp; E,</div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> <span class="keyword">const</span> cv::Mat &amp; x,</div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> <span class="keyword">const</span> cv::Mat &amp; xp);</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> </div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> <span class="comment">// return fundamental matrix</span></div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> <span class="comment">// status -&gt; inliers = 1, outliers = 0</span></div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> <span class="keyword">static</span> cv::Mat findFFromWords(</div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> <span class="keyword">const</span> std::list&lt;std::pair&lt;<span class="keywordtype">int</span>, std::pair&lt;cv::KeyPoint, cv::KeyPoint&gt; &gt; &gt; &amp; pairs, <span class="comment">// id, kpt1, kpt2</span></div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> std::vector&lt;uchar&gt; &amp; status,</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> <span class="keywordtype">double</span> ransacReprojThreshold = 3.0,</div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> <span class="keywordtype">double</span> ransacConfidence = 0.99);</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> </div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> <span class="comment">// assume a canonical camera (without K)</span></div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> <span class="keyword">static</span> <span class="keywordtype">void</span> findRTFromP(</div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> <span class="keyword">const</span> cv::Mat &amp; p,</div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> cv::Mat &amp; r,</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> cv::Mat &amp; t);</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> </div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> <span class="keyword">static</span> cv::Mat findFFromCalibratedStereoCameras(<span class="keywordtype">double</span> fx, <span class="keywordtype">double</span> fy, <span class="keywordtype">double</span> cx, <span class="keywordtype">double</span> cy, <span class="keywordtype">double</span> Tx, <span class="keywordtype">double</span> Ty);</div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> </div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> </div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
<div class="foldopen" id="foldopen00100" data-start="{" data-end="}">
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"><a class="line" href="classrtabmap_1_1EpipolarGeometry.html#ace979984a7d97ccaa18bf0764318d342"> 100</a></span> <span class="keyword">static</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1EpipolarGeometry.html#ace979984a7d97ccaa18bf0764318d342">findPairs</a>(</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> <span class="keyword">const</span> std::map&lt;int, T&gt; &amp; wordsA,</div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> <span class="keyword">const</span> std::map&lt;int, T&gt; &amp; wordsB,</div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> std::list&lt;std::pair&lt;<span class="keywordtype">int</span>, std::pair&lt;T, T&gt; &gt; &gt; &amp; pairs,</div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> <span class="keywordtype">bool</span> ignoreNegativeIds = <span class="keyword">true</span>)</div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> {</div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> <span class="keywordtype">int</span> realPairsCount = 0;</div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> pairs.clear();</div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> <span class="keywordflow">for</span>(<span class="keyword">typename</span> std::map&lt;int, T&gt;::const_iterator i=wordsA.begin(); i!=wordsA.end(); ++i)</div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> {</div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> <span class="keywordflow">if</span>(!ignoreNegativeIds || (ignoreNegativeIds &amp;&amp; i-&gt;first&gt;=0))</div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> {</div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> std::map&lt;int, cv::KeyPoint&gt;::const_iterator ptB = wordsB.find(i-&gt;first);</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> <span class="keywordflow">if</span>(ptB != wordsB.end())</div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> {</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> pairs.push_back(std::pair&lt;<span class="keywordtype">int</span>, std::pair&lt;T, T&gt; &gt;(i-&gt;first, std::make_pair(i-&gt;second, ptB-&gt;second)));</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> ++realPairsCount;</div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> }</div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> }</div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> }</div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> <span class="keywordflow">return</span> realPairsCount;</div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> }</div>
</div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> </div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
<div class="foldopen" id="foldopen00128" data-start="{" data-end="}">
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"><a class="line" href="classrtabmap_1_1EpipolarGeometry.html#a8fc121340b9d638dc9b8c69f2d86c5e7"> 128</a></span> <span class="keyword">static</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1EpipolarGeometry.html#a8fc121340b9d638dc9b8c69f2d86c5e7">findPairs</a>(</div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> <span class="keyword">const</span> std::multimap&lt;int, T&gt; &amp; wordsA,</div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> <span class="keyword">const</span> std::multimap&lt;int, T&gt; &amp; wordsB,</div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> std::list&lt;std::pair&lt;<span class="keywordtype">int</span>, std::pair&lt;T, T&gt; &gt; &gt; &amp; pairs,</div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span> <span class="keywordtype">bool</span> ignoreNegativeIds = <span class="keyword">true</span>)</div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> {</div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span> <span class="keyword">const</span> std::list&lt;int&gt; &amp; ids = <a class="code hl_function" href="UStl_8h.html#a62335030b4c0d80f80e7c4a21721c05e">uUniqueKeys</a>(wordsA);</div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> <span class="keyword">typename</span> std::multimap&lt;int, T&gt;::const_iterator iterA;</div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> <span class="keyword">typename</span> std::multimap&lt;int, T&gt;::const_iterator iterB;</div>
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span> pairs.clear();</div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"> 138</span> <span class="keywordtype">int</span> realPairsCount = 0;</div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span> <span class="keywordflow">for</span>(std::list&lt;int&gt;::const_iterator i=ids.begin(); i!=ids.end(); ++i)</div>
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> {</div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> <span class="keywordflow">if</span>(!ignoreNegativeIds || (ignoreNegativeIds &amp;&amp; *i &gt;= 0))</div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> {</div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> iterA = wordsA.find(*i);</div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> iterB = wordsB.find(*i);</div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> <span class="keywordflow">while</span>(iterA != wordsA.end() &amp;&amp; iterB != wordsB.end() &amp;&amp; (*iterA).first == (*iterB).first &amp;&amp; (*iterA).first == *i)</div>
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span> {</div>
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> pairs.push_back(std::pair&lt;<span class="keywordtype">int</span>, std::pair&lt;T, T&gt; &gt;(*i, std::make_pair((*iterA).second, (*iterB).second)));</div>
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span> ++iterA;</div>
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> ++iterB;</div>
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> ++realPairsCount;</div>
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> }</div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> }</div>
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> }</div>
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> <span class="keywordflow">return</span> realPairsCount;</div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> }</div>
</div>
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> </div>
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
<div class="foldopen" id="foldopen00162" data-start="{" data-end="}">
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"><a class="line" href="classrtabmap_1_1EpipolarGeometry.html#a7c3886c647a098d33a88640ed2477e24"> 162</a></span> <span class="keyword">static</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1EpipolarGeometry.html#a7c3886c647a098d33a88640ed2477e24">findPairsUnique</a>(</div>
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> <span class="keyword">const</span> std::multimap&lt;int, T&gt; &amp; wordsA,</div>
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> <span class="keyword">const</span> std::multimap&lt;int, T&gt; &amp; wordsB,</div>
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span> std::list&lt;std::pair&lt;<span class="keywordtype">int</span>, std::pair&lt;T, T&gt; &gt; &gt; &amp; pairs,</div>
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> <span class="keywordtype">bool</span> ignoreNegativeIds = <span class="keyword">true</span>)</div>
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> {</div>
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> <span class="keyword">const</span> std::list&lt;int&gt; &amp; ids = <a class="code hl_function" href="UStl_8h.html#a62335030b4c0d80f80e7c4a21721c05e">uUniqueKeys</a>(wordsA);</div>
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> <span class="keywordtype">int</span> realPairsCount = 0;</div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> pairs.clear();</div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> <span class="keywordflow">for</span>(std::list&lt;int&gt;::const_iterator i=ids.begin(); i!=ids.end(); ++i)</div>
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> {</div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> <span class="keywordflow">if</span>(!ignoreNegativeIds || (ignoreNegativeIds &amp;&amp; *i&gt;=0))</div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> {</div>
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> std::list&lt;T&gt; ptsA = <a class="code hl_function" href="UStl_8h.html#a745b929c605a3d6b0014dff0c9c2a314">uValues</a>(wordsA, *i);</div>
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> std::list&lt;T&gt; ptsB = <a class="code hl_function" href="UStl_8h.html#a745b929c605a3d6b0014dff0c9c2a314">uValues</a>(wordsB, *i);</div>
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span> <span class="keywordflow">if</span>(ptsA.size() == 1 &amp;&amp; ptsB.size() == 1)</div>
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> {</div>
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> pairs.push_back(std::pair&lt;<span class="keywordtype">int</span>, std::pair&lt;T, T&gt; &gt;(*i, std::pair&lt;T, T&gt;(ptsA.front(), ptsB.front())));</div>
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> ++realPairsCount;</div>
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> }</div>
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> <span class="keywordflow">else</span> <span class="keywordflow">if</span>(ptsA.size()&gt;1 &amp;&amp; ptsB.size()&gt;1)</div>
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span> {</div>
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span> <span class="comment">// just update the count</span></div>
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span> realPairsCount += ptsA.size() &gt; ptsB.size() ? ptsB.size() : ptsA.size();</div>
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span> }</div>
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span> }</div>
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> }</div>
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> <span class="keywordflow">return</span> realPairsCount;</div>
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> }</div>
</div>
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> </div>
<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
<div class="foldopen" id="foldopen00197" data-start="{" data-end="}">
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"><a class="line" href="classrtabmap_1_1EpipolarGeometry.html#adfcc58ee756cb99887c6d8807bc7104c"> 197</a></span> <span class="keyword">static</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1EpipolarGeometry.html#adfcc58ee756cb99887c6d8807bc7104c">findPairsAll</a>(</div>
<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"> 198</span> <span class="keyword">const</span> std::multimap&lt;int, T&gt; &amp; wordsA,</div>
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span> <span class="keyword">const</span> std::multimap&lt;int, T&gt; &amp; wordsB,</div>
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span> std::list&lt;std::pair&lt;<span class="keywordtype">int</span>, std::pair&lt;T, T&gt; &gt; &gt; &amp; pairs,</div>
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> <span class="keywordtype">bool</span> ignoreNegativeIds = <span class="keyword">true</span>)</div>
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> {</div>
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span> <span class="keyword">const</span> std::list&lt;int&gt; &amp; ids = <a class="code hl_function" href="UStl_8h.html#a62335030b4c0d80f80e7c4a21721c05e">uUniqueKeys</a>(wordsA);</div>
<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> pairs.clear();</div>
<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> <span class="keywordtype">int</span> realPairsCount = 0;;</div>
<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span> <span class="keywordflow">for</span>(std::list&lt;int&gt;::const_iterator iter=ids.begin(); iter!=ids.end(); ++iter)</div>
<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span> {</div>
<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span> <span class="keywordflow">if</span>(!ignoreNegativeIds || (ignoreNegativeIds &amp;&amp; *iter&gt;=0))</div>
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> {</div>
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> std::list&lt;T&gt; ptsA = <a class="code hl_function" href="UStl_8h.html#a745b929c605a3d6b0014dff0c9c2a314">uValues</a>(wordsA, *iter);</div>
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> std::list&lt;T&gt; ptsB = <a class="code hl_function" href="UStl_8h.html#a745b929c605a3d6b0014dff0c9c2a314">uValues</a>(wordsB, *iter);</div>
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> </div>
<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> realPairsCount += ptsA.size() &gt; ptsB.size() ? ptsB.size() : ptsA.size();</div>
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span> </div>
<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span> <span class="keywordflow">for</span>(<span class="keyword">typename</span> std::list&lt;T&gt;::iterator jter=ptsA.begin(); jter!=ptsA.end(); ++jter)</div>
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span> {</div>
<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span> <span class="keywordflow">for</span>(<span class="keyword">typename</span> std::list&lt;T&gt;::iterator kter=ptsB.begin(); kter!=ptsB.end(); ++kter)</div>
<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"> 218</span> {</div>
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span> pairs.push_back(std::pair&lt;<span class="keywordtype">int</span>, std::pair&lt;T, T&gt; &gt;(*iter, std::pair&lt;T, T&gt;(*jter, *kter)));</div>
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span> }</div>
<div class="line"><a id="l00221" name="l00221"></a><span class="lineno"> 221</span> }</div>
<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"> 222</span> }</div>
<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span> }</div>
<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</span> <span class="keywordflow">return</span> realPairsCount;</div>
<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"> 225</span> }</div>
</div>
<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"> 226</span> </div>
<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span> <span class="keyword">static</span> cv::Mat linearLSTriangulation(</div>
<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span> cv::Point3d u, <span class="comment">//homogenous image point (u,v,1)</span></div>
<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span> cv::Matx34d P, <span class="comment">//camera 1 matrix 3x4 double</span></div>
<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> cv::Point3d u1, <span class="comment">//homogenous image point in 2nd camera</span></div>
<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span> cv::Matx34d P1); <span class="comment">//camera 2 matrix 3x4 double</span></div>
<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span> </div>
<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span> <span class="keyword">static</span> cv::Mat iterativeLinearLSTriangulation(</div>
<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"> 234</span> cv::Point3d u, <span class="comment">//homogenous image point (u,v,1)</span></div>
<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"> 235</span> <span class="keyword">const</span> cv::Matx34d &amp; P, <span class="comment">//camera 1 matrix 3x4 double</span></div>
<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span> cv::Point3d u1, <span class="comment">//homogenous image point in 2nd camera</span></div>
<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span> <span class="keyword">const</span> cv::Matx34d &amp; P1); <span class="comment">//camera 2 matrix 3x4 double</span></div>
<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"> 238</span> </div>
<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span> <span class="keyword">static</span> <span class="keywordtype">double</span> triangulatePoints(</div>
<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"> 240</span> <span class="keyword">const</span> cv::Mat&amp; pt_set1, <span class="comment">//2xN double</span></div>
<div class="line"><a id="l00241" name="l00241"></a><span class="lineno"> 241</span> <span class="keyword">const</span> cv::Mat&amp; pt_set2, <span class="comment">//2xN double</span></div>
<div class="line"><a id="l00242" name="l00242"></a><span class="lineno"> 242</span> <span class="keyword">const</span> cv::Mat&amp; P, <span class="comment">// 3x4 double</span></div>
<div class="line"><a id="l00243" name="l00243"></a><span class="lineno"> 243</span> <span class="keyword">const</span> cv::Mat&amp; P1, <span class="comment">// 3x4 double</span></div>
<div class="line"><a id="l00244" name="l00244"></a><span class="lineno"> 244</span> pcl::PointCloud&lt;pcl::PointXYZ&gt;::Ptr &amp; pointcloud,</div>
<div class="line"><a id="l00245" name="l00245"></a><span class="lineno"> 245</span> std::vector&lt;double&gt; &amp; reproj_errors);</div>
<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"> 246</span> </div>
<div class="line"><a id="l00247" name="l00247"></a><span class="lineno"> 247</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00248" name="l00248"></a><span class="lineno"> 248</span> <span class="keywordtype">int</span> _matchCountMinAccepted;</div>
<div class="line"><a id="l00249" name="l00249"></a><span class="lineno"> 249</span> <span class="keywordtype">double</span> _ransacParam1;</div>
<div class="line"><a id="l00250" name="l00250"></a><span class="lineno"> 250</span> <span class="keywordtype">double</span> _ransacParam2;</div>
<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"> 251</span>};</div>
</div>
<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"> 252</span> </div>
<div class="line"><a id="l00253" name="l00253"></a><span class="lineno"> 253</span>} <span class="comment">// namespace rtabmap</span></div>
<div class="ttc" id="aUStl_8h_html"><div class="ttname"><a href="UStl_8h.html">UStl.h</a></div><div class="ttdoc">Wrappers of STL for convenient functions.</div></div>
<div class="ttc" id="aUStl_8h_html_a62335030b4c0d80f80e7c4a21721c05e"><div class="ttname"><a href="UStl_8h.html#a62335030b4c0d80f80e7c4a21721c05e">uUniqueKeys</a></div><div class="ttdeci">std::list&lt; K &gt; uUniqueKeys(const std::multimap&lt; K, V &gt; &amp;mm)</div><div class="ttdef"><b>Definition</b> <a href="UStl_8h_source.html#l00046">UStl.h:46</a></div></div>
<div class="ttc" id="aUStl_8h_html_a745b929c605a3d6b0014dff0c9c2a314"><div class="ttname"><a href="UStl_8h.html#a745b929c605a3d6b0014dff0c9c2a314">uValues</a></div><div class="ttdeci">std::vector&lt; V &gt; uValues(const std::multimap&lt; K, V &gt; &amp;mm)</div><div class="ttdef"><b>Definition</b> <a href="UStl_8h_source.html#l00100">UStl.h:100</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1EpipolarGeometry_html"><div class="ttname"><a href="classrtabmap_1_1EpipolarGeometry.html">rtabmap::EpipolarGeometry</a></div><div class="ttdef"><b>Definition</b> <a href="EpipolarGeometry_8h_source.html#l00049">EpipolarGeometry.h:50</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1EpipolarGeometry_html_a7c3886c647a098d33a88640ed2477e24"><div class="ttname"><a href="classrtabmap_1_1EpipolarGeometry.html#a7c3886c647a098d33a88640ed2477e24">rtabmap::EpipolarGeometry::findPairsUnique</a></div><div class="ttdeci">static int findPairsUnique(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)</div><div class="ttdef"><b>Definition</b> <a href="EpipolarGeometry_8h_source.html#l00162">EpipolarGeometry.h:162</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1EpipolarGeometry_html_a8fc121340b9d638dc9b8c69f2d86c5e7"><div class="ttname"><a href="classrtabmap_1_1EpipolarGeometry.html#a8fc121340b9d638dc9b8c69f2d86c5e7">rtabmap::EpipolarGeometry::findPairs</a></div><div class="ttdeci">static int findPairs(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)</div><div class="ttdef"><b>Definition</b> <a href="EpipolarGeometry_8h_source.html#l00128">EpipolarGeometry.h:128</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1EpipolarGeometry_html_ace979984a7d97ccaa18bf0764318d342"><div class="ttname"><a href="classrtabmap_1_1EpipolarGeometry.html#ace979984a7d97ccaa18bf0764318d342">rtabmap::EpipolarGeometry::findPairs</a></div><div class="ttdeci">static int findPairs(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)</div><div class="ttdef"><b>Definition</b> <a href="EpipolarGeometry_8h_source.html#l00100">EpipolarGeometry.h:100</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1EpipolarGeometry_html_adfcc58ee756cb99887c6d8807bc7104c"><div class="ttname"><a href="classrtabmap_1_1EpipolarGeometry.html#adfcc58ee756cb99887c6d8807bc7104c">rtabmap::EpipolarGeometry::findPairsAll</a></div><div class="ttdeci">static int findPairsAll(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)</div><div class="ttdef"><b>Definition</b> <a href="EpipolarGeometry_8h_source.html#l00197">EpipolarGeometry.h:197</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Signature_html"><div class="ttname"><a href="classrtabmap_1_1Signature.html">rtabmap::Signature</a></div><div class="ttdoc">Represents a node in RTAB-Map's pose graph.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00083">Signature.h:84</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>
<div class="ttc" id="anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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