RTAB-Map 0.23.10
Real-Time Appearance-Based Mapping
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Public Member Functions | Static Public Member Functions | List of all members
rtabmap::EpipolarGeometry Class Reference

Public Member Functions

 EpipolarGeometry (const ParametersMap &parameters=ParametersMap())
 
bool check (const Signature *ssA, const Signature *ssB)
 
void parseParameters (const ParametersMap &parameters)
 
int getMatchCountMinAccepted () const
 
double getRansacParam1 () const
 
double getRansacParam2 () const
 
void setMatchCountMinAccepted (int matchCountMinAccepted)
 
void setRansacParam1 (double ransacParam1)
 
void setRansacParam2 (double ransacParam2)
 

Static Public Member Functions

static void findEpipolesFromF (const cv::Mat &fundamentalMatrix, cv::Vec3d &e1, cv::Vec3d &e2)
 
static cv::Mat findPFromE (const cv::Mat &E, const cv::Mat &x, const cv::Mat &xp)
 
static cv::Mat findFFromWords (const std::list< std::pair< int, std::pair< cv::KeyPoint, cv::KeyPoint > > > &pairs, std::vector< uchar > &status, double ransacReprojThreshold=3.0, double ransacConfidence=0.99)
 
static void findRTFromP (const cv::Mat &p, cv::Mat &r, cv::Mat &t)
 
static cv::Mat findFFromCalibratedStereoCameras (double fx, double fy, double cx, double cy, double Tx, double Ty)
 
template<typename T >
static int findPairs (const std::map< int, T > &wordsA, const std::map< int, T > &wordsB, std::list< std::pair< int, std::pair< T, T > > > &pairs, bool ignoreNegativeIds=true)
 
template<typename T >
static int findPairs (const std::multimap< int, T > &wordsA, const std::multimap< int, T > &wordsB, std::list< std::pair< int, std::pair< T, T > > > &pairs, bool ignoreNegativeIds=true)
 
template<typename T >
static int findPairsUnique (const std::multimap< int, T > &wordsA, const std::multimap< int, T > &wordsB, std::list< std::pair< int, std::pair< T, T > > > &pairs, bool ignoreNegativeIds=true)
 
template<typename T >
static int findPairsAll (const std::multimap< int, T > &wordsA, const std::multimap< int, T > &wordsB, std::list< std::pair< int, std::pair< T, T > > > &pairs, bool ignoreNegativeIds=true)
 
static cv::Mat linearLSTriangulation (cv::Point3d u, cv::Matx34d P, cv::Point3d u1, cv::Matx34d P1)
 
static cv::Mat iterativeLinearLSTriangulation (cv::Point3d u, const cv::Matx34d &P, cv::Point3d u1, const cv::Matx34d &P1)
 
static double triangulatePoints (const cv::Mat &pt_set1, const cv::Mat &pt_set2, const cv::Mat &P, const cv::Mat &P1, pcl::PointCloud< pcl::PointXYZ >::Ptr &pointcloud, std::vector< double > &reproj_errors)
 

Detailed Description

Definition at line 49 of file EpipolarGeometry.h.

Member Function Documentation

◆ getMatchCountMinAccepted()

int rtabmap::EpipolarGeometry::getMatchCountMinAccepted ( ) const
inline

Definition at line 57 of file EpipolarGeometry.h.

◆ getRansacParam1()

double rtabmap::EpipolarGeometry::getRansacParam1 ( ) const
inline

Definition at line 58 of file EpipolarGeometry.h.

◆ getRansacParam2()

double rtabmap::EpipolarGeometry::getRansacParam2 ( ) const
inline

Definition at line 59 of file EpipolarGeometry.h.

◆ setMatchCountMinAccepted()

void rtabmap::EpipolarGeometry::setMatchCountMinAccepted ( int  matchCountMinAccepted)
inline

Definition at line 61 of file EpipolarGeometry.h.

◆ setRansacParam1()

void rtabmap::EpipolarGeometry::setRansacParam1 ( double  ransacParam1)
inline

Definition at line 62 of file EpipolarGeometry.h.

◆ setRansacParam2()

void rtabmap::EpipolarGeometry::setRansacParam2 ( double  ransacParam2)
inline

Definition at line 63 of file EpipolarGeometry.h.

◆ findPairs() [1/2]

template<typename T >
static int rtabmap::EpipolarGeometry::findPairs ( const std::map< int, T > &  wordsA,
const std::map< int, T > &  wordsB,
std::list< std::pair< int, std::pair< T, T > > > &  pairs,
bool  ignoreNegativeIds = true 
)
inlinestatic

if a=[1 2 3 4 6], b=[1 2 4 5 6], results= [(1,1) (2,2) (4,4) (6,6)] realPairsCount = 4

Definition at line 100 of file EpipolarGeometry.h.

◆ findPairs() [2/2]

template<typename T >
static int rtabmap::EpipolarGeometry::findPairs ( const std::multimap< int, T > &  wordsA,
const std::multimap< int, T > &  wordsB,
std::list< std::pair< int, std::pair< T, T > > > &  pairs,
bool  ignoreNegativeIds = true 
)
inlinestatic

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

Definition at line 128 of file EpipolarGeometry.h.

◆ findPairsUnique()

template<typename T >
static int rtabmap::EpipolarGeometry::findPairsUnique ( const std::multimap< int, T > &  wordsA,
const std::multimap< int, T > &  wordsB,
std::list< std::pair< int, std::pair< T, T > > > &  pairs,
bool  ignoreNegativeIds = true 
)
inlinestatic

if a=[1 2 3 4 6 6], b=[1 1 2 4 5 6 6], results= [(2,2) (4,4)] realPairsCount = 5

Definition at line 162 of file EpipolarGeometry.h.

◆ findPairsAll()

template<typename T >
static int rtabmap::EpipolarGeometry::findPairsAll ( const std::multimap< int, T > &  wordsA,
const std::multimap< int, T > &  wordsB,
std::list< std::pair< int, std::pair< T, T > > > &  pairs,
bool  ignoreNegativeIds = true 
)
inlinestatic

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

Definition at line 197 of file EpipolarGeometry.h.

The documentation for this class was generated from the following file: