ORB_SLAM2::Sim3Solver Class Reference

#include "Sim3Solver.h"

Public Member Functions
	Sim3Solver (KeyFrame *pKF1, KeyFrame *pKF2, const std::vector< MapPoint *> &vpMatched12, const bool bFixScale=true)
cv::Mat	find (std::vector< bool > &vbInliers12, int &nInliers)
cv::Mat	GetEstimatedRotation ()
float	GetEstimatedScale ()
cv::Mat	GetEstimatedTranslation ()
cv::Mat	iterate (int nIterations, bool &bNoMore, std::vector< bool > &vbInliers, int &nInliers)
void	SetRansacParameters (double probability=0.99, int minInliers=6, int maxIterations=300)

Protected Member Functions
void	CheckInliers ()
void	ComputeCentroid (cv::Mat &P, cv::Mat &Pr, cv::Mat &C)
void	ComputeSim3 (cv::Mat &P1, cv::Mat &P2)
void	FromCameraToImage (const std::vector< cv::Mat > &vP3Dc, std::vector< cv::Mat > &vP2D, cv::Mat K)
void	Project (const std::vector< cv::Mat > &vP3Dw, std::vector< cv::Mat > &vP2D, cv::Mat Tcw, cv::Mat K)

Protected Attributes
cv::Mat	mBestRotation
float	mBestScale
cv::Mat	mBestT12
cv::Mat	mBestTranslation
bool	mbFixScale
cv::Mat	mK1
cv::Mat	mK2
int	mN1
int	mnBestInliers
int	mnInliersi
int	mnIterations
KeyFrame *	mpKF1
KeyFrame *	mpKF2
cv::Mat	mR12i
int	mRansacMaxIts
int	mRansacMinInliers
double	mRansacProb
float	ms12i
float	mSigma2
cv::Mat	mt12i
cv::Mat	mT12i
cv::Mat	mT21i
float	mTh
std::vector< size_t >	mvAllIndices
std::vector< bool >	mvbBestInliers
std::vector< bool >	mvbInliersi
std::vector< size_t >	mvnIndices1
std::vector< size_t >	mvnMaxError1
std::vector< size_t >	mvnMaxError2
std::vector< cv::Mat >	mvP1im1
std::vector< cv::Mat >	mvP2im2
std::vector< MapPoint * >	mvpMapPoints1
std::vector< MapPoint * >	mvpMapPoints2
std::vector< MapPoint * >	mvpMatches12
std::vector< size_t >	mvSigmaSquare1
std::vector< size_t >	mvSigmaSquare2
std::vector< cv::Mat >	mvX3Dc1
std::vector< cv::Mat >	mvX3Dc2
int	N

Constructor & Destructor Documentation

Sim3Solver()

ORB_SLAM2::Sim3Solver::Sim3Solver	(	KeyFrame *	pKF1,
		KeyFrame *	pKF2,
		const std::vector< MapPoint *> &	vpMatched12,
		const bool	bFixScale = true
	)

Member Function Documentation

CheckInliers()

void ORB_SLAM2::Sim3Solver::CheckInliers ( )

protected

ComputeCentroid()

void ORB_SLAM2::Sim3Solver::ComputeCentroid ( cv::Mat &  P, cv::Mat &  Pr, cv::Mat &  C  )

protected

ComputeSim3()

void ORB_SLAM2::Sim3Solver::ComputeSim3 ( cv::Mat &  P1, cv::Mat &  P2  )

protected

find()

cv::Mat ORB_SLAM2::Sim3Solver::find	(	std::vector< bool > &	vbInliers12,
		int &	nInliers
	)

FromCameraToImage()

void ORB_SLAM2::Sim3Solver::FromCameraToImage ( const std::vector< cv::Mat > &  vP3Dc, std::vector< cv::Mat > &  vP2D, cv::Mat  K  )

protected

GetEstimatedRotation()

cv::Mat ORB_SLAM2::Sim3Solver::GetEstimatedRotation

(

)

GetEstimatedScale()

float ORB_SLAM2::Sim3Solver::GetEstimatedScale

(

)

GetEstimatedTranslation()

cv::Mat ORB_SLAM2::Sim3Solver::GetEstimatedTranslation

(

)

iterate()

cv::Mat ORB_SLAM2::Sim3Solver::iterate	(	int	nIterations,
		bool &	bNoMore,
		std::vector< bool > &	vbInliers,
		int &	nInliers
	)

Project()

void ORB_SLAM2::Sim3Solver::Project ( const std::vector< cv::Mat > &  vP3Dw, std::vector< cv::Mat > &  vP2D, cv::Mat  Tcw, cv::Mat  K  )

protected

SetRansacParameters()

void ORB_SLAM2::Sim3Solver::SetRansacParameters	(	double	probability = 0.99,
		int	minInliers = 6,
		int	maxIterations = 300
	)

Member Data Documentation

mBestRotation

cv::Mat ORB_SLAM2::Sim3Solver::mBestRotation

protected

mBestScale

float ORB_SLAM2::Sim3Solver::mBestScale

protected

mBestT12

cv::Mat ORB_SLAM2::Sim3Solver::mBestT12

protected

mBestTranslation

cv::Mat ORB_SLAM2::Sim3Solver::mBestTranslation

protected

mbFixScale

bool ORB_SLAM2::Sim3Solver::mbFixScale

protected

mK1

cv::Mat ORB_SLAM2::Sim3Solver::mK1

protected

mK2

cv::Mat ORB_SLAM2::Sim3Solver::mK2

protected

mN1

int ORB_SLAM2::Sim3Solver::mN1

protected

mnBestInliers

int ORB_SLAM2::Sim3Solver::mnBestInliers

protected

mnInliersi

int ORB_SLAM2::Sim3Solver::mnInliersi

protected

mnIterations

int ORB_SLAM2::Sim3Solver::mnIterations

protected

mpKF1

KeyFrame* ORB_SLAM2::Sim3Solver::mpKF1

protected

mpKF2

KeyFrame* ORB_SLAM2::Sim3Solver::mpKF2

protected

mR12i

cv::Mat ORB_SLAM2::Sim3Solver::mR12i

protected

mRansacMaxIts

int ORB_SLAM2::Sim3Solver::mRansacMaxIts

protected

mRansacMinInliers

int ORB_SLAM2::Sim3Solver::mRansacMinInliers

protected

mRansacProb

double ORB_SLAM2::Sim3Solver::mRansacProb

protected

ms12i

float ORB_SLAM2::Sim3Solver::ms12i

protected

mSigma2

float ORB_SLAM2::Sim3Solver::mSigma2

protected

mt12i

cv::Mat ORB_SLAM2::Sim3Solver::mt12i

protected

mT12i

cv::Mat ORB_SLAM2::Sim3Solver::mT12i

protected

mT21i

cv::Mat ORB_SLAM2::Sim3Solver::mT21i

protected

mTh

float ORB_SLAM2::Sim3Solver::mTh

protected

mvAllIndices

std::vector<size_t> ORB_SLAM2::Sim3Solver::mvAllIndices

protected

mvbBestInliers

std::vector<bool> ORB_SLAM2::Sim3Solver::mvbBestInliers

protected

mvbInliersi

std::vector<bool> ORB_SLAM2::Sim3Solver::mvbInliersi

protected

mvnIndices1

std::vector<size_t> ORB_SLAM2::Sim3Solver::mvnIndices1

protected

mvnMaxError1

std::vector<size_t> ORB_SLAM2::Sim3Solver::mvnMaxError1

protected

mvnMaxError2

std::vector<size_t> ORB_SLAM2::Sim3Solver::mvnMaxError2

protected

mvP1im1

std::vector<cv::Mat> ORB_SLAM2::Sim3Solver::mvP1im1

protected

mvP2im2

std::vector<cv::Mat> ORB_SLAM2::Sim3Solver::mvP2im2

protected

mvpMapPoints1

std::vector<MapPoint*> ORB_SLAM2::Sim3Solver::mvpMapPoints1

protected

mvpMapPoints2

std::vector<MapPoint*> ORB_SLAM2::Sim3Solver::mvpMapPoints2

protected

mvpMatches12

std::vector<MapPoint*> ORB_SLAM2::Sim3Solver::mvpMatches12

protected

mvSigmaSquare1

std::vector<size_t> ORB_SLAM2::Sim3Solver::mvSigmaSquare1

protected

mvSigmaSquare2

std::vector<size_t> ORB_SLAM2::Sim3Solver::mvSigmaSquare2

protected

mvX3Dc1

std::vector<cv::Mat> ORB_SLAM2::Sim3Solver::mvX3Dc1

protected

mvX3Dc2

std::vector<cv::Mat> ORB_SLAM2::Sim3Solver::mvX3Dc2

protected

N

int ORB_SLAM2::Sim3Solver::N

protected

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

• orbslam2/include/Sim3Solver.h