ORB_SLAM2::PnPsolver Class Reference

#include "PnPsolver.h"

Public Member Functions
	PnPsolver (const Frame &F, const vector< MapPoint *> &vpMapPointMatches)
	~PnPsolver ()
cv::Mat	find (vector< bool > &vbInliers, int &nInliers)
cv::Mat	iterate (int nIterations, bool &bNoMore, vector< bool > &vbInliers, int &nInliers)
void	SetRansacParameters (double probability=0.99, int minInliers=8, int maxIterations=300, int minSet=4, float epsilon=0.4, float th2=5.991)

Constructor & Destructor Documentation

PnPsolver()

ORB_SLAM2::PnPsolver::PnPsolver	(	const Frame &	F,
		const vector< MapPoint *> &	vpMapPointMatches
	)

~PnPsolver()

ORB_SLAM2::PnPsolver::~PnPsolver

(

)

Member Function Documentation

find()

cv::Mat ORB_SLAM2::PnPsolver::find	(	vector< bool > &	vbInliers,
		int &	nInliers
	)

iterate()

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

SetRansacParameters()

void ORB_SLAM2::PnPsolver::SetRansacParameters	(	double	probability = 0.99,
		int	minInliers = 8,
		int	maxIterations = 300,
		int	minSet = 4,
		float	epsilon = 0.4,
		float	th2 = 5.991
	)

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

• orbslam2/include/PnPsolver.h