#include "ORBmatcher.h"
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| ORBmatcher (float nnratio=0.6, bool checkOri=true) |
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int | Fuse (KeyFrame *pKF, const vector< MapPoint *> &vpMapPoints, const float th=3.0) |
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int | Fuse (KeyFrame *pKF, cv::Mat Scw, const std::vector< MapPoint *> &vpPoints, float th, vector< MapPoint *> &vpReplacePoint) |
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int | SearchByBoW (KeyFrame *pKF, Frame &F, std::vector< MapPoint *> &vpMapPointMatches) |
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int | SearchByBoW (KeyFrame *pKF1, KeyFrame *pKF2, std::vector< MapPoint *> &vpMatches12) |
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int | SearchByProjection (Frame &F, const std::vector< MapPoint *> &vpMapPoints, const float th=3) |
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int | SearchByProjection (Frame &CurrentFrame, const Frame &LastFrame, const float th, const bool bMono) |
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int | SearchByProjection (Frame &CurrentFrame, KeyFrame *pKF, const std::set< MapPoint *> &sAlreadyFound, const float th, const int ORBdist) |
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int | SearchByProjection (KeyFrame *pKF, cv::Mat Scw, const std::vector< MapPoint *> &vpPoints, std::vector< MapPoint *> &vpMatched, int th) |
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int | SearchBySim3 (KeyFrame *pKF1, KeyFrame *pKF2, std::vector< MapPoint *> &vpMatches12, const float &s12, const cv::Mat &R12, const cv::Mat &t12, const float th) |
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int | SearchForInitialization (Frame &F1, Frame &F2, std::vector< cv::Point2f > &vbPrevMatched, std::vector< int > &vnMatches12, int windowSize=10) |
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int | SearchForTriangulation (KeyFrame *pKF1, KeyFrame *pKF2, cv::Mat F12, std::vector< pair< size_t, size_t > > &vMatchedPairs, const bool bOnlyStereo) |
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◆ ORBmatcher()
ORB_SLAM2::ORBmatcher::ORBmatcher |
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float |
nnratio = 0.6 , |
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bool |
checkOri = true |
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) |
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◆ CheckDistEpipolarLine()
◆ ComputeThreeMaxima()
void ORB_SLAM2::ORBmatcher::ComputeThreeMaxima |
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std::vector< int > * |
histo, |
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const int |
L, |
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int & |
ind1, |
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int & |
ind2, |
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int & |
ind3 |
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) |
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protected |
◆ DescriptorDistance()
static int ORB_SLAM2::ORBmatcher::DescriptorDistance |
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const cv::Mat & |
a, |
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const cv::Mat & |
b |
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) |
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◆ Fuse() [1/2]
int ORB_SLAM2::ORBmatcher::Fuse |
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KeyFrame * |
pKF, |
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const vector< MapPoint *> & |
vpMapPoints, |
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const float |
th = 3.0 |
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) |
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◆ Fuse() [2/2]
◆ RadiusByViewingCos()
float ORB_SLAM2::ORBmatcher::RadiusByViewingCos |
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const float & |
viewCos | ) |
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protected |
◆ SearchByBoW() [1/2]
int ORB_SLAM2::ORBmatcher::SearchByBoW |
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KeyFrame * |
pKF, |
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Frame & |
F, |
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std::vector< MapPoint *> & |
vpMapPointMatches |
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) |
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◆ SearchByBoW() [2/2]
◆ SearchByProjection() [1/4]
int ORB_SLAM2::ORBmatcher::SearchByProjection |
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Frame & |
F, |
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const std::vector< MapPoint *> & |
vpMapPoints, |
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const float |
th = 3 |
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) |
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◆ SearchByProjection() [2/4]
int ORB_SLAM2::ORBmatcher::SearchByProjection |
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Frame & |
CurrentFrame, |
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const Frame & |
LastFrame, |
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const float |
th, |
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const bool |
bMono |
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) |
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◆ SearchByProjection() [3/4]
int ORB_SLAM2::ORBmatcher::SearchByProjection |
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Frame & |
CurrentFrame, |
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KeyFrame * |
pKF, |
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const std::set< MapPoint *> & |
sAlreadyFound, |
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const float |
th, |
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const int |
ORBdist |
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) |
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◆ SearchByProjection() [4/4]
int ORB_SLAM2::ORBmatcher::SearchByProjection |
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KeyFrame * |
pKF, |
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cv::Mat |
Scw, |
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const std::vector< MapPoint *> & |
vpPoints, |
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std::vector< MapPoint *> & |
vpMatched, |
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int |
th |
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) |
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◆ SearchBySim3()
int ORB_SLAM2::ORBmatcher::SearchBySim3 |
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KeyFrame * |
pKF1, |
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KeyFrame * |
pKF2, |
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std::vector< MapPoint *> & |
vpMatches12, |
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const float & |
s12, |
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const cv::Mat & |
R12, |
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const cv::Mat & |
t12, |
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const float |
th |
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) |
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◆ SearchForInitialization()
int ORB_SLAM2::ORBmatcher::SearchForInitialization |
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Frame & |
F1, |
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Frame & |
F2, |
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std::vector< cv::Point2f > & |
vbPrevMatched, |
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std::vector< int > & |
vnMatches12, |
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int |
windowSize = 10 |
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) |
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◆ SearchForTriangulation()
int ORB_SLAM2::ORBmatcher::SearchForTriangulation |
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KeyFrame * |
pKF1, |
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KeyFrame * |
pKF2, |
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cv::Mat |
F12, |
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std::vector< pair< size_t, size_t > > & |
vMatchedPairs, |
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const bool |
bOnlyStereo |
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◆ HISTO_LENGTH
const int ORB_SLAM2::ORBmatcher::HISTO_LENGTH |
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◆ mbCheckOrientation
bool ORB_SLAM2::ORBmatcher::mbCheckOrientation |
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◆ mfNNratio
float ORB_SLAM2::ORBmatcher::mfNNratio |
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◆ TH_HIGH
const int ORB_SLAM2::ORBmatcher::TH_HIGH |
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◆ TH_LOW
const int ORB_SLAM2::ORBmatcher::TH_LOW |
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static |
The documentation for this class was generated from the following file: