ORB_SLAM2::ORBmatcher Class Reference

#include "ORBmatcher.h"

Public Member Functions
	ORBmatcher (float nnratio=0.6, bool checkOri=true)
int	Fuse (KeyFrame *pKF, const vector< MapPoint *> &vpMapPoints, const float th=3.0)
int	Fuse (KeyFrame *pKF, cv::Mat Scw, const std::vector< MapPoint *> &vpPoints, float th, vector< MapPoint *> &vpReplacePoint)
int	SearchByBoW (KeyFrame *pKF, Frame &F, std::vector< MapPoint *> &vpMapPointMatches)
int	SearchByBoW (KeyFrame *pKF1, KeyFrame *pKF2, std::vector< MapPoint *> &vpMatches12)
int	SearchByProjection (Frame &F, const std::vector< MapPoint *> &vpMapPoints, const float th=3)
int	SearchByProjection (Frame &CurrentFrame, const Frame &LastFrame, const float th, const bool bMono)
int	SearchByProjection (Frame &CurrentFrame, KeyFrame *pKF, const std::set< MapPoint *> &sAlreadyFound, const float th, const int ORBdist)
int	SearchByProjection (KeyFrame *pKF, cv::Mat Scw, const std::vector< MapPoint *> &vpPoints, std::vector< MapPoint *> &vpMatched, int th)
int	SearchBySim3 (KeyFrame *pKF1, KeyFrame *pKF2, std::vector< MapPoint *> &vpMatches12, const float &s12, const cv::Mat &R12, const cv::Mat &t12, const float th)
int	SearchForInitialization (Frame &F1, Frame &F2, std::vector< cv::Point2f > &vbPrevMatched, std::vector< int > &vnMatches12, int windowSize=10)
int	SearchForTriangulation (KeyFrame *pKF1, KeyFrame *pKF2, cv::Mat F12, std::vector< pair< size_t, size_t > > &vMatchedPairs, const bool bOnlyStereo)

Static Public Member Functions
static int	DescriptorDistance (const cv::Mat &a, const cv::Mat &b)

Static Public Attributes
static const int	HISTO_LENGTH
static const int	TH_HIGH
static const int	TH_LOW

Protected Member Functions
bool	CheckDistEpipolarLine (const cv::KeyPoint &kp1, const cv::KeyPoint &kp2, const cv::Mat &F12, const KeyFrame *pKF)
void	ComputeThreeMaxima (std::vector< int > *histo, const int L, int &ind1, int &ind2, int &ind3)
float	RadiusByViewingCos (const float &viewCos)

Protected Attributes
bool	mbCheckOrientation
float	mfNNratio

Constructor & Destructor Documentation

ORBmatcher()

ORB_SLAM2::ORBmatcher::ORBmatcher	(	float	nnratio = 0.6,
		bool	checkOri = true
	)

Member Function Documentation

CheckDistEpipolarLine()

bool ORB_SLAM2::ORBmatcher::CheckDistEpipolarLine ( const cv::KeyPoint &  kp1, const cv::KeyPoint &  kp2, const cv::Mat &  F12, const KeyFrame *  pKF  )

protected

ComputeThreeMaxima()

void ORB_SLAM2::ORBmatcher::ComputeThreeMaxima ( std::vector< int > *  histo, const int  L, int &  ind1, int &  ind2, int &  ind3  )

protected

DescriptorDistance()

static int ORB_SLAM2::ORBmatcher::DescriptorDistance ( const cv::Mat &  a, const cv::Mat &  b  )

static

Fuse() [1/2]

int ORB_SLAM2::ORBmatcher::Fuse	(	KeyFrame *	pKF,
		const vector< MapPoint *> &	vpMapPoints,
		const float	th = 3.0
	)

Fuse() [2/2]

int ORB_SLAM2::ORBmatcher::Fuse	(	KeyFrame *	pKF,
		cv::Mat	Scw,
		const std::vector< MapPoint *> &	vpPoints,
		float	th,
		vector< MapPoint *> &	vpReplacePoint
	)

RadiusByViewingCos()

float ORB_SLAM2::ORBmatcher::RadiusByViewingCos ( const float &  viewCos )

protected

SearchByBoW() [1/2]

int ORB_SLAM2::ORBmatcher::SearchByBoW	(	KeyFrame *	pKF,
		Frame &	F,
		std::vector< MapPoint *> &	vpMapPointMatches
	)

SearchByBoW() [2/2]

int ORB_SLAM2::ORBmatcher::SearchByBoW	(	KeyFrame *	pKF1,
		KeyFrame *	pKF2,
		std::vector< MapPoint *> &	vpMatches12
	)

SearchByProjection() [1/4]

int ORB_SLAM2::ORBmatcher::SearchByProjection	(	Frame &	F,
		const std::vector< MapPoint *> &	vpMapPoints,
		const float	th = 3
	)

SearchByProjection() [2/4]

int ORB_SLAM2::ORBmatcher::SearchByProjection	(	Frame &	CurrentFrame,
		const Frame &	LastFrame,
		const float	th,
		const bool	bMono
	)

SearchByProjection() [3/4]

int ORB_SLAM2::ORBmatcher::SearchByProjection	(	Frame &	CurrentFrame,
		KeyFrame *	pKF,
		const std::set< MapPoint *> &	sAlreadyFound,
		const float	th,
		const int	ORBdist
	)

SearchByProjection() [4/4]

int ORB_SLAM2::ORBmatcher::SearchByProjection	(	KeyFrame *	pKF,
		cv::Mat	Scw,
		const std::vector< MapPoint *> &	vpPoints,
		std::vector< MapPoint *> &	vpMatched,
		int	th
	)

SearchBySim3()

int ORB_SLAM2::ORBmatcher::SearchBySim3	(	KeyFrame *	pKF1,
		KeyFrame *	pKF2,
		std::vector< MapPoint *> &	vpMatches12,
		const float &	s12,
		const cv::Mat &	R12,
		const cv::Mat &	t12,
		const float	th
	)

SearchForInitialization()

int ORB_SLAM2::ORBmatcher::SearchForInitialization	(	Frame &	F1,
		Frame &	F2,
		std::vector< cv::Point2f > &	vbPrevMatched,
		std::vector< int > &	vnMatches12,
		int	windowSize = 10
	)

SearchForTriangulation()

int ORB_SLAM2::ORBmatcher::SearchForTriangulation	(	KeyFrame *	pKF1,
		KeyFrame *	pKF2,
		cv::Mat	F12,
		std::vector< pair< size_t, size_t > > &	vMatchedPairs,
		const bool	bOnlyStereo
	)

Member Data Documentation

HISTO_LENGTH

const int ORB_SLAM2::ORBmatcher::HISTO_LENGTH

static

mbCheckOrientation

bool ORB_SLAM2::ORBmatcher::mbCheckOrientation

protected

mfNNratio

float ORB_SLAM2::ORBmatcher::mfNNratio

protected

TH_HIGH

const int ORB_SLAM2::ORBmatcher::TH_HIGH

static

TH_LOW

const int ORB_SLAM2::ORBmatcher::TH_LOW

static

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

• orbslam2/include/ORBmatcher.h