#include <Initializer.h>

Public Member Functions
bool	Initialize (const Frame &CurrentFrame, const vector< int > &vMatches12, cv::Mat &R21, cv::Mat &t21, vector< cv::Point3f > &vP3D, vector< bool > &vbTriangulated)

	Initializer (const Frame &ReferenceFrame, float sigma=1.0, int iterations=200)

Private Types
typedef pair< int, int >	Match

Private Member Functions
float	CheckFundamental (const cv::Mat &F21, vector< bool > &vbMatchesInliers, float sigma)

float	CheckHomography (const cv::Mat &H21, const cv::Mat &H12, vector< bool > &vbMatchesInliers, float sigma)

int	CheckRT (const cv::Mat &R, const cv::Mat &t, const vector< cv::KeyPoint > &vKeys1, const vector< cv::KeyPoint > &vKeys2, const vector< Match > &vMatches12, vector< bool > &vbInliers, const cv::Mat &K, vector< cv::Point3f > &vP3D, float th2, vector< bool > &vbGood, float &parallax)

cv::Mat	ComputeF21 (const vector< cv::Point2f > &vP1, const vector< cv::Point2f > &vP2)

cv::Mat	ComputeH21 (const vector< cv::Point2f > &vP1, const vector< cv::Point2f > &vP2)

void	DecomposeE (const cv::Mat &E, cv::Mat &R1, cv::Mat &R2, cv::Mat &t)

void	FindFundamental (vector< bool > &vbInliers, float &score, cv::Mat &F21)

void	FindHomography (vector< bool > &vbMatchesInliers, float &score, cv::Mat &H21)

void	Normalize (const vector< cv::KeyPoint > &vKeys, vector< cv::Point2f > &vNormalizedPoints, cv::Mat &T)

bool	ReconstructF (vector< bool > &vbMatchesInliers, cv::Mat &F21, cv::Mat &K, cv::Mat &R21, cv::Mat &t21, vector< cv::Point3f > &vP3D, vector< bool > &vbTriangulated, float minParallax, int minTriangulated)

bool	ReconstructH (vector< bool > &vbMatchesInliers, cv::Mat &H21, cv::Mat &K, cv::Mat &R21, cv::Mat &t21, vector< cv::Point3f > &vP3D, vector< bool > &vbTriangulated, float minParallax, int minTriangulated)

void	Triangulate (const cv::KeyPoint &kp1, const cv::KeyPoint &kp2, const cv::Mat &P1, const cv::Mat &P2, cv::Mat &x3D)

Private Attributes
cv::Mat	mK

int	mMaxIterations

float	mSigma

float	mSigma2

vector< bool >	mvbMatched1

vector< cv::KeyPoint >	mvKeys1

vector< cv::KeyPoint >	mvKeys2

vector< Match >	mvMatches12

vector< vector< size_t > >	mvSets

Detailed Description

Definition at line 31 of file Initializer.h.

Member Typedef Documentation

typedef pair<int,int> ORB_SLAM2::Initializer::Match

private

Definition at line 33 of file Initializer.h.

Constructor & Destructor Documentation

ORB_SLAM2::Initializer::Initializer	(	const Frame &	ReferenceFrame,
		float	sigma = `1.0`,
		int	iterations = `200`
	)

Definition at line 33 of file Initializer.cc.

Member Function Documentation

float ORB_SLAM2::Initializer::CheckFundamental	(	const cv::Mat &	F21,
		vector< bool > &	vbMatchesInliers,
		float	sigma
	)

private

Definition at line 390 of file Initializer.cc.

float ORB_SLAM2::Initializer::CheckHomography	(	const cv::Mat &	H21,
		const cv::Mat &	H12,
		vector< bool > &	vbMatchesInliers,
		float	sigma
	)

private

Definition at line 305 of file Initializer.cc.

int ORB_SLAM2::Initializer::CheckRT	(	const cv::Mat &	R,
		const cv::Mat &	t,
		const vector< cv::KeyPoint > &	vKeys1,
		const vector< cv::KeyPoint > &	vKeys2,
		const vector< Match > &	vMatches12,
		vector< bool > &	vbInliers,
		const cv::Mat &	K,
		vector< cv::Point3f > &	vP3D,
		float	th2,
		vector< bool > &	vbGood,
		float &	parallax
	)

private

Definition at line 798 of file Initializer.cc.

cv::Mat ORB_SLAM2::Initializer::ComputeF21	(	const vector< cv::Point2f > &	vP1,
		const vector< cv::Point2f > &	vP2
	)

private

Definition at line 268 of file Initializer.cc.

cv::Mat ORB_SLAM2::Initializer::ComputeH21	(	const vector< cv::Point2f > &	vP1,
		const vector< cv::Point2f > &	vP2
	)

private

Definition at line 226 of file Initializer.cc.

void ORB_SLAM2::Initializer::DecomposeE	(	const cv::Mat &	E,
		cv::Mat &	R1,
		cv::Mat &	R2,
		cv::Mat &	t
	)

private

Definition at line 909 of file Initializer.cc.

void ORB_SLAM2::Initializer::FindFundamental	(	vector< bool > &	vbInliers,
		float &	score,
		cv::Mat &	F21
	)

private

Definition at line 175 of file Initializer.cc.

void ORB_SLAM2::Initializer::FindHomography	(	vector< bool > &	vbMatchesInliers,
		float &	score,
		cv::Mat &	H21
	)

private

Definition at line 124 of file Initializer.cc.

bool ORB_SLAM2::Initializer::Initialize	(	const Frame &	CurrentFrame,
		const vector< int > &	vMatches12,
		cv::Mat &	R21,
		cv::Mat &	t21,
		vector< cv::Point3f > &	vP3D,
		vector< bool > &	vbTriangulated
	)

Definition at line 44 of file Initializer.cc.

void ORB_SLAM2::Initializer::Normalize	(	const vector< cv::KeyPoint > &	vKeys,
		vector< cv::Point2f > &	vNormalizedPoints,
		cv::Mat &	T
	)

private

Definition at line 749 of file Initializer.cc.

bool ORB_SLAM2::Initializer::ReconstructF	(	vector< bool > &	vbMatchesInliers,
		cv::Mat &	F21,
		cv::Mat &	K,
		cv::Mat &	R21,
		cv::Mat &	t21,
		vector< cv::Point3f > &	vP3D,
		vector< bool > &	vbTriangulated,
		float	minParallax,
		int	minTriangulated
	)

private

Definition at line 470 of file Initializer.cc.

bool ORB_SLAM2::Initializer::ReconstructH	(	vector< bool > &	vbMatchesInliers,
		cv::Mat &	H21,
		cv::Mat &	K,
		cv::Mat &	R21,
		cv::Mat &	t21,
		vector< cv::Point3f > &	vP3D,
		vector< bool > &	vbTriangulated,
		float	minParallax,
		int	minTriangulated
	)

private

Definition at line 572 of file Initializer.cc.

void ORB_SLAM2::Initializer::Triangulate	(	const cv::KeyPoint &	kp1,
		const cv::KeyPoint &	kp2,
		const cv::Mat &	P1,
		const cv::Mat &	P2,
		cv::Mat &	x3D
	)

private

Definition at line 734 of file Initializer.cc.

Member Data Documentation

cv::Mat ORB_SLAM2::Initializer::mK

private

Definition at line 86 of file Initializer.h.

int ORB_SLAM2::Initializer::mMaxIterations

private

Definition at line 92 of file Initializer.h.

float ORB_SLAM2::Initializer::mSigma

private

Definition at line 89 of file Initializer.h.

float ORB_SLAM2::Initializer::mSigma2

private

Definition at line 89 of file Initializer.h.

vector<bool> ORB_SLAM2::Initializer::mvbMatched1

private

Definition at line 83 of file Initializer.h.

vector<cv::KeyPoint> ORB_SLAM2::Initializer::mvKeys1

private

Definition at line 76 of file Initializer.h.

vector<cv::KeyPoint> ORB_SLAM2::Initializer::mvKeys2

private

Definition at line 79 of file Initializer.h.

vector<Match> ORB_SLAM2::Initializer::mvMatches12

private

Definition at line 82 of file Initializer.h.

vector<vector<size_t> > ORB_SLAM2::Initializer::mvSets

private

Definition at line 95 of file Initializer.h.

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

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation