text: /*
  Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
  All rights reserved.
  
  Redistribution and use in source and binary forms, with or without
  modification, are permitted provided that the following conditions are met:
      * Redistributions of source code must retain the above copyright
        notice, this list of conditions and the following disclaimer.
      * Redistributions in binary form must reproduce the above copyright
        notice, this list of conditions and the following disclaimer in the
        documentation and/or other materials provided with the distribution.
      * Neither the name of the Universite de Sherbrooke nor the
        names of its contributors may be used to endorse or promote products
        derived from this software without specific prior written permission.
  
  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
  ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
  WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
  DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
  (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
  ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
  (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
  
  #ifndef UTIL3D_FEATURES_H_
  #define UTIL3D_FEATURES_H_
  
  #include <rtabmap/core/RtabmapExp.h>
  
  #include <pcl/point_cloud.h>
  #include <pcl/point_types.h>
  #include <opencv2/calib3d/calib3d.hpp>
  #include <rtabmap/core/Transform.h>
  #include <list>
  
  namespace rtabmap
  {
  
  namespace util3d
  {
  
  
  pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP generateKeypoints3DDepth(
  		const std::vector<cv::KeyPoint> & keypoints,
  		const cv::Mat & depth,
  		float fx,
  		float fy,
  		float cx,
  		float cy,
  		const Transform & transform);
  
  pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP generateKeypoints3DDisparity(
  		const std::vector<cv::KeyPoint> & keypoints,
  		const cv::Mat & disparity,
  		float fx,
  		float baseline,
  		float cx,
  		float cy,
  		const Transform & transform);
  
  pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP generateKeypoints3DStereo(
  		const std::vector<cv::KeyPoint> & keypoints,
  		const cv::Mat & leftImage,
  		const cv::Mat & rightImage,
  		float fx,
  		float baseline,
  		float cx,
  		float cy,
  		const Transform & transform = Transform::getIdentity(),
  		int flowWinSize = 9,
  		int flowMaxLevel = 4,
  		int flowIterations = 20,
  		double flowEps = 0.02);
  
  std::multimap<int, pcl::PointXYZ> RTABMAP_EXP generateWords3DMono(
  		const std::multimap<int, cv::KeyPoint> & kpts,
  		const std::multimap<int, cv::KeyPoint> & previousKpts,
  		float fx,
  		float fy,
  		float cx,
  		float cy,
  		const Transform & localTransform,
  		Transform & cameraTransform,
  		int pnpIterations = 100,
  		float pnpReprojError = 8.0f,
  		int pnpFlags = cv::ITERATIVE,
  		float ransacParam1 = 3.0f,
  		float ransacParam2 = 0.99f,
  		const std::multimap<int, pcl::PointXYZ> & refGuess3D = std::multimap<int, pcl::PointXYZ>(),
  		double * variance = 0);
  
  std::multimap<int, cv::KeyPoint> RTABMAP_EXP aggregate(
  		const std::list<int> & wordIds,
  		const std::vector<cv::KeyPoint> & keypoints);
  
  pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP get3DFASTKpts(
  		const cv::Mat & image,
  		const cv::Mat & imageDepth,
  		float constant,
  		int fastThreshold=50,
  		bool fastNonmaxSuppression=true,
  		float maxDepth = 5.0f);
  
  } // namespace util3d
  } // namespace rtabmap
  
  #endif /* UTIL3D_FEATURES_H_ */
  