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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">#ifndef UTIL3D_CORRESPONDENCES_H_</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="preprocessor">#define UTIL3D_CORRESPONDENCES_H_</span></div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span> </div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span><span class="preprocessor">#include &lt;rtabmap/core/rtabmap_core_export.h&gt;</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span> </div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="preprocessor">#include &lt;pcl/point_types.h&gt;</span></div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="preprocessor">#include &lt;opencv2/core/version.hpp&gt;</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span><span class="preprocessor">#if CV_MAJOR_VERSION &lt; 5</span></div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="preprocessor">#include &lt;opencv2/features2d/features2d.hpp&gt;</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="preprocessor">#else</span></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span><span class="preprocessor">#include &lt;opencv2/features.hpp&gt;</span></div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="preprocessor">#endif</span></div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="preprocessor">#include &lt;set&gt;</span></div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span><span class="preprocessor">#include &lt;map&gt;</span></div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span><span class="preprocessor">#include &lt;list&gt;</span></div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span> </div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a></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> </div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span><span class="keyword">namespace </span>util3d</div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span>{</div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span> </div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a58b9802c1fc28b7e8927359173f98de8"> 69</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a58b9802c1fc28b7e8927359173f98de8">extractXYZCorrespondences</a>(<span class="keyword">const</span> std::multimap&lt;int, pcl::PointXYZ&gt; &amp; words1,</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> <span class="keyword">const</span> std::multimap&lt;int, pcl::PointXYZ&gt; &amp; words2,</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> pcl::PointCloud&lt;pcl::PointXYZ&gt; &amp; cloud1,</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> pcl::PointCloud&lt;pcl::PointXYZ&gt; &amp; cloud2);</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> </div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#ab6a2896e40afacde8cb8b0d10a955e02"> 95</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#ab6a2896e40afacde8cb8b0d10a955e02">extractXYZCorrespondencesRANSAC</a>(<span class="keyword">const</span> std::multimap&lt;int, pcl::PointXYZ&gt; &amp; words1,</div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span> <span class="keyword">const</span> std::multimap&lt;int, pcl::PointXYZ&gt; &amp; words2,</div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span> pcl::PointCloud&lt;pcl::PointXYZ&gt; &amp; cloud1,</div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> pcl::PointCloud&lt;pcl::PointXYZ&gt; &amp; cloud2);</div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> </div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a0696277eef10a197af8fd5dcba52fc12"> 126</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a58b9802c1fc28b7e8927359173f98de8">extractXYZCorrespondences</a>(<span class="keyword">const</span> std::list&lt;std::pair&lt;cv::Point2f, cv::Point2f&gt; &gt; &amp; correspondences,</div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> <span class="keyword">const</span> cv::Mat &amp; depthImage1,</div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> <span class="keyword">const</span> cv::Mat &amp; depthImage2,</div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> <span class="keywordtype">float</span> cx, <span class="keywordtype">float</span> cy,</div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> <span class="keywordtype">float</span> fx, <span class="keywordtype">float</span> fy,</div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> <span class="keywordtype">float</span> maxDepth,</div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span> pcl::PointCloud&lt;pcl::PointXYZ&gt; &amp; cloud1,</div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> pcl::PointCloud&lt;pcl::PointXYZ&gt; &amp; cloud2);</div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span> </div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a340e76117340170fb465ade8b11dd6af"> 152</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a58b9802c1fc28b7e8927359173f98de8">extractXYZCorrespondences</a>(<span class="keyword">const</span> std::list&lt;std::pair&lt;cv::Point2f, cv::Point2f&gt; &gt; &amp; correspondences,</div>
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZ&gt; &amp; cloud1,</div>
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZ&gt; &amp; cloud2,</div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> pcl::PointCloud&lt;pcl::PointXYZ&gt; &amp; inliers1,</div>
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> pcl::PointCloud&lt;pcl::PointXYZ&gt; &amp; inliers2);</div>
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a43b6de83939173dfd275cbd17f5d7500"> 169</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a58b9802c1fc28b7e8927359173f98de8">extractXYZCorrespondences</a>(<span class="keyword">const</span> std::list&lt;std::pair&lt;cv::Point2f, cv::Point2f&gt; &gt; &amp; correspondences,</div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZRGB&gt; &amp; cloud1,</div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZRGB&gt; &amp; cloud2,</div>
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> pcl::PointCloud&lt;pcl::PointXYZ&gt; &amp; inliers1,</div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> pcl::PointCloud&lt;pcl::PointXYZ&gt; &amp; inliers2);</div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> </div>
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#af7d4d348836959bbdce0e5db0a4af91c"> 186</a></span><span class="keywordtype">int</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#af7d4d348836959bbdce0e5db0a4af91c">countUniquePairs</a>(<span class="keyword">const</span> std::multimap&lt;int, pcl::PointXYZ&gt; &amp; wordsA,</div>
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span> <span class="keyword">const</span> std::multimap&lt;int, pcl::PointXYZ&gt; &amp; wordsB);</div>
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> </div>
<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a96efcf6ed971e5a5d6b7f9a5e03d1ce3"> 207</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a96efcf6ed971e5a5d6b7f9a5e03d1ce3">filterMaxDepth</a>(pcl::PointCloud&lt;pcl::PointXYZ&gt; &amp; inliers1,</div>
<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span> pcl::PointCloud&lt;pcl::PointXYZ&gt; &amp; inliers2,</div>
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> <span class="keywordtype">float</span> maxDepth,</div>
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> <span class="keywordtype">char</span> depthAxis,</div>
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> <span class="keywordtype">bool</span> removeDuplicates);</div>
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> </div>
<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a188c2a13980f6b7d85e6e0804a38cb50"> 229</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a188c2a13980f6b7d85e6e0804a38cb50">findCorrespondences</a>(</div>
<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> <span class="keyword">const</span> std::multimap&lt;int, cv::KeyPoint&gt; &amp; wordsA,</div>
<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span> <span class="keyword">const</span> std::multimap&lt;int, cv::KeyPoint&gt; &amp; wordsB,</div>
<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span> std::list&lt;std::pair&lt;cv::Point2f, cv::Point2f&gt; &gt; &amp; pairs);</div>
<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span> </div>
<div class="line"><a id="l00250" name="l00250"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#ac466a705ab9ee7d99f23842cd71f3c96"> 250</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a188c2a13980f6b7d85e6e0804a38cb50">findCorrespondences</a>(</div>
<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"> 251</span> <span class="keyword">const</span> std::multimap&lt;int, cv::Point3f&gt; &amp; words1,</div>
<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"> 252</span> <span class="keyword">const</span> std::multimap&lt;int, cv::Point3f&gt; &amp; words2,</div>
<div class="line"><a id="l00253" name="l00253"></a><span class="lineno"> 253</span> std::vector&lt;cv::Point3f&gt; &amp; inliers1,</div>
<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"> 254</span> std::vector&lt;cv::Point3f&gt; &amp; inliers2,</div>
<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"> 255</span> <span class="keywordtype">float</span> maxDepth,</div>
<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"> 256</span> std::vector&lt;int&gt; * uniqueCorrespondences = 0);</div>
<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"> 257</span> </div>
<div class="line"><a id="l00273" name="l00273"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a5c07f098f9f5ba889e18d22b927f3cd4"> 273</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a188c2a13980f6b7d85e6e0804a38cb50">findCorrespondences</a>(</div>
<div class="line"><a id="l00274" name="l00274"></a><span class="lineno"> 274</span> <span class="keyword">const</span> std::map&lt;int, cv::Point3f&gt; &amp; words1,</div>
<div class="line"><a id="l00275" name="l00275"></a><span class="lineno"> 275</span> <span class="keyword">const</span> std::map&lt;int, cv::Point3f&gt; &amp; words2,</div>
<div class="line"><a id="l00276" name="l00276"></a><span class="lineno"> 276</span> std::vector&lt;cv::Point3f&gt; &amp; inliers1,</div>
<div class="line"><a id="l00277" name="l00277"></a><span class="lineno"> 277</span> std::vector&lt;cv::Point3f&gt; &amp; inliers2,</div>
<div class="line"><a id="l00278" name="l00278"></a><span class="lineno"> 278</span> <span class="keywordtype">float</span> maxDepth,</div>
<div class="line"><a id="l00279" name="l00279"></a><span class="lineno"> 279</span> std::vector&lt;int&gt; * correspondences = 0);</div>
<div class="line"><a id="l00280" name="l00280"></a><span class="lineno"> 280</span> </div>
<div class="line"><a id="l00281" name="l00281"></a><span class="lineno"> 281</span>} <span class="comment">// namespace util3d</span></div>
<div class="line"><a id="l00282" name="l00282"></a><span class="lineno"> 282</span>} <span class="comment">// namespace rtabmap</span></div>
<div class="line"><a id="l00283" name="l00283"></a><span class="lineno"> 283</span> </div>
<div class="line"><a id="l00284" name="l00284"></a><span class="lineno"> 284</span><span class="preprocessor">#endif </span><span class="comment">/* UTIL3D_CORRESPONDENCES_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="anamespacertabmap_1_1util3d_html_a188c2a13980f6b7d85e6e0804a38cb50"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a188c2a13980f6b7d85e6e0804a38cb50">rtabmap::util3d::findCorrespondences</a></div><div class="ttdeci">void RTABMAP_CORE_EXPORT findCorrespondences(const std::multimap&lt; int, cv::KeyPoint &gt; &amp;wordsA, const std::multimap&lt; int, cv::KeyPoint &gt; &amp;wordsB, std::list&lt; std::pair&lt; cv::Point2f, cv::Point2f &gt; &gt; &amp;pairs)</div><div class="ttdoc">Finds 2D point correspondences between two sets of keypoints based on matching word IDs.</div></div>
<div class="ttc" id="anamespacertabmap_1_1util3d_html_a58b9802c1fc28b7e8927359173f98de8"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a58b9802c1fc28b7e8927359173f98de8">rtabmap::util3d::extractXYZCorrespondences</a></div><div class="ttdeci">void RTABMAP_CORE_EXPORT extractXYZCorrespondences(const std::multimap&lt; int, pcl::PointXYZ &gt; &amp;words1, const std::multimap&lt; int, pcl::PointXYZ &gt; &amp;words2, pcl::PointCloud&lt; pcl::PointXYZ &gt; &amp;cloud1, pcl::PointCloud&lt; pcl::PointXYZ &gt; &amp;cloud2)</div><div class="ttdoc">Extracts 3D point correspondences between two sets of labeled 3D points.</div></div>
<div class="ttc" id="anamespacertabmap_1_1util3d_html_a96efcf6ed971e5a5d6b7f9a5e03d1ce3"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a96efcf6ed971e5a5d6b7f9a5e03d1ce3">rtabmap::util3d::filterMaxDepth</a></div><div class="ttdeci">void RTABMAP_CORE_EXPORT filterMaxDepth(pcl::PointCloud&lt; pcl::PointXYZ &gt; &amp;inliers1, pcl::PointCloud&lt; pcl::PointXYZ &gt; &amp;inliers2, float maxDepth, char depthAxis, bool removeDuplicates)</div><div class="ttdoc">Filters pairs of 3D points by maximum depth along a specified axis and optionally removes duplicates.</div></div>
<div class="ttc" id="anamespacertabmap_1_1util3d_html_ab6a2896e40afacde8cb8b0d10a955e02"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#ab6a2896e40afacde8cb8b0d10a955e02">rtabmap::util3d::extractXYZCorrespondencesRANSAC</a></div><div class="ttdeci">void RTABMAP_CORE_EXPORT extractXYZCorrespondencesRANSAC(const std::multimap&lt; int, pcl::PointXYZ &gt; &amp;words1, const std::multimap&lt; int, pcl::PointXYZ &gt; &amp;words2, pcl::PointCloud&lt; pcl::PointXYZ &gt; &amp;cloud1, pcl::PointCloud&lt; pcl::PointXYZ &gt; &amp;cloud2)</div><div class="ttdoc">Extracts reliable 3D point correspondences between two sets of labeled 3D points using RANSAC filteri...</div></div>
<div class="ttc" id="anamespacertabmap_1_1util3d_html_af7d4d348836959bbdce0e5db0a4af91c"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#af7d4d348836959bbdce0e5db0a4af91c">rtabmap::util3d::countUniquePairs</a></div><div class="ttdeci">int RTABMAP_CORE_EXPORT countUniquePairs(const std::multimap&lt; int, pcl::PointXYZ &gt; &amp;wordsA, const std::multimap&lt; int, pcl::PointXYZ &gt; &amp;wordsB)</div><div class="ttdoc">Counts the number of unique 3D point correspondences between two sets of word-indexed features.</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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