#include "Sim3Solver.h"
◆ Sim3Solver()
ORB_SLAM2::Sim3Solver::Sim3Solver |
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KeyFrame * |
pKF1, |
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KeyFrame * |
pKF2, |
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const std::vector< MapPoint *> & |
vpMatched12, |
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const bool |
bFixScale = true |
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◆ CheckInliers()
void ORB_SLAM2::Sim3Solver::CheckInliers |
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◆ ComputeCentroid()
◆ ComputeSim3()
void ORB_SLAM2::Sim3Solver::ComputeSim3 |
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cv::Mat & |
P1, |
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cv::Mat & |
P2 |
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◆ find()
cv::Mat ORB_SLAM2::Sim3Solver::find |
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std::vector< bool > & |
vbInliers12, |
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int & |
nInliers |
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◆ FromCameraToImage()
void ORB_SLAM2::Sim3Solver::FromCameraToImage |
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const std::vector< cv::Mat > & |
vP3Dc, |
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std::vector< cv::Mat > & |
vP2D, |
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cv::Mat |
K |
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◆ GetEstimatedRotation()
cv::Mat ORB_SLAM2::Sim3Solver::GetEstimatedRotation |
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◆ GetEstimatedScale()
float ORB_SLAM2::Sim3Solver::GetEstimatedScale |
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◆ GetEstimatedTranslation()
cv::Mat ORB_SLAM2::Sim3Solver::GetEstimatedTranslation |
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◆ iterate()
cv::Mat ORB_SLAM2::Sim3Solver::iterate |
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int |
nIterations, |
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bool & |
bNoMore, |
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std::vector< bool > & |
vbInliers, |
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int & |
nInliers |
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◆ Project()
◆ SetRansacParameters()
void ORB_SLAM2::Sim3Solver::SetRansacParameters |
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double |
probability = 0.99 , |
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int |
minInliers = 6 , |
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int |
maxIterations = 300 |
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◆ mBestRotation
cv::Mat ORB_SLAM2::Sim3Solver::mBestRotation |
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◆ mBestScale
float ORB_SLAM2::Sim3Solver::mBestScale |
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◆ mBestT12
cv::Mat ORB_SLAM2::Sim3Solver::mBestT12 |
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◆ mBestTranslation
cv::Mat ORB_SLAM2::Sim3Solver::mBestTranslation |
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◆ mbFixScale
bool ORB_SLAM2::Sim3Solver::mbFixScale |
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◆ mK1
◆ mK2
◆ mN1
int ORB_SLAM2::Sim3Solver::mN1 |
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◆ mnBestInliers
int ORB_SLAM2::Sim3Solver::mnBestInliers |
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◆ mnInliersi
int ORB_SLAM2::Sim3Solver::mnInliersi |
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◆ mnIterations
int ORB_SLAM2::Sim3Solver::mnIterations |
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◆ mpKF1
◆ mpKF2
◆ mR12i
cv::Mat ORB_SLAM2::Sim3Solver::mR12i |
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◆ mRansacMaxIts
int ORB_SLAM2::Sim3Solver::mRansacMaxIts |
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◆ mRansacMinInliers
int ORB_SLAM2::Sim3Solver::mRansacMinInliers |
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◆ mRansacProb
double ORB_SLAM2::Sim3Solver::mRansacProb |
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◆ ms12i
float ORB_SLAM2::Sim3Solver::ms12i |
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◆ mSigma2
float ORB_SLAM2::Sim3Solver::mSigma2 |
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◆ mt12i
cv::Mat ORB_SLAM2::Sim3Solver::mt12i |
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◆ mT12i
cv::Mat ORB_SLAM2::Sim3Solver::mT12i |
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◆ mT21i
cv::Mat ORB_SLAM2::Sim3Solver::mT21i |
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◆ mTh
float ORB_SLAM2::Sim3Solver::mTh |
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◆ mvAllIndices
std::vector<size_t> ORB_SLAM2::Sim3Solver::mvAllIndices |
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◆ mvbBestInliers
std::vector<bool> ORB_SLAM2::Sim3Solver::mvbBestInliers |
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◆ mvbInliersi
std::vector<bool> ORB_SLAM2::Sim3Solver::mvbInliersi |
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◆ mvnIndices1
std::vector<size_t> ORB_SLAM2::Sim3Solver::mvnIndices1 |
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◆ mvnMaxError1
std::vector<size_t> ORB_SLAM2::Sim3Solver::mvnMaxError1 |
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◆ mvnMaxError2
std::vector<size_t> ORB_SLAM2::Sim3Solver::mvnMaxError2 |
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◆ mvP1im1
std::vector<cv::Mat> ORB_SLAM2::Sim3Solver::mvP1im1 |
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◆ mvP2im2
std::vector<cv::Mat> ORB_SLAM2::Sim3Solver::mvP2im2 |
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◆ mvpMapPoints1
std::vector<MapPoint*> ORB_SLAM2::Sim3Solver::mvpMapPoints1 |
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◆ mvpMapPoints2
std::vector<MapPoint*> ORB_SLAM2::Sim3Solver::mvpMapPoints2 |
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◆ mvpMatches12
std::vector<MapPoint*> ORB_SLAM2::Sim3Solver::mvpMatches12 |
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◆ mvSigmaSquare1
std::vector<size_t> ORB_SLAM2::Sim3Solver::mvSigmaSquare1 |
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◆ mvSigmaSquare2
std::vector<size_t> ORB_SLAM2::Sim3Solver::mvSigmaSquare2 |
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◆ mvX3Dc1
std::vector<cv::Mat> ORB_SLAM2::Sim3Solver::mvX3Dc1 |
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◆ mvX3Dc2
std::vector<cv::Mat> ORB_SLAM2::Sim3Solver::mvX3Dc2 |
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int ORB_SLAM2::Sim3Solver::N |
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The documentation for this class was generated from the following file: