Public Member Functions | Private Member Functions | Private Attributes | List of all members
ORB_SLAM2::PnPsolver Class Reference

#include <PnPsolver.h>

Public Member Functions

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

Private Member Functions

void add_correspondence (const double X, const double Y, const double Z, const double u, const double v)
 
void CheckInliers ()
 
void choose_control_points (void)
 
void compute_A_and_b_gauss_newton (const double *l_6x10, const double *rho, double cb[4], CvMat *A, CvMat *b)
 
void compute_barycentric_coordinates (void)
 
void compute_ccs (const double *betas, const double *ut)
 
void compute_L_6x10 (const double *ut, double *l_6x10)
 
void compute_pcs (void)
 
double compute_pose (double R[3][3], double T[3])
 
double compute_R_and_t (const double *ut, const double *betas, double R[3][3], double t[3])
 
void compute_rho (double *rho)
 
void copy_R_and_t (const double R_dst[3][3], const double t_dst[3], double R_src[3][3], double t_src[3])
 
double dist2 (const double *p1, const double *p2)
 
double dot (const double *v1, const double *v2)
 
void estimate_R_and_t (double R[3][3], double t[3])
 
void fill_M (CvMat *M, const int row, const double *alphas, const double u, const double v)
 
void find_betas_approx_1 (const CvMat *L_6x10, const CvMat *Rho, double *betas)
 
void find_betas_approx_2 (const CvMat *L_6x10, const CvMat *Rho, double *betas)
 
void find_betas_approx_3 (const CvMat *L_6x10, const CvMat *Rho, double *betas)
 
void gauss_newton (const CvMat *L_6x10, const CvMat *Rho, double current_betas[4])
 
void mat_to_quat (const double R[3][3], double q[4])
 
void print_pose (const double R[3][3], const double t[3])
 
void qr_solve (CvMat *A, CvMat *b, CvMat *X)
 
bool Refine ()
 
void relative_error (double &rot_err, double &transl_err, const double Rtrue[3][3], const double ttrue[3], const double Rest[3][3], const double test[3])
 
double reprojection_error (const double R[3][3], const double t[3])
 
void reset_correspondences (void)
 
void set_maximum_number_of_correspondences (const int n)
 
void solve_for_sign (void)
 

Private Attributes

double * alphas
 
double ccs [4][3]
 
double cws [4][3]
 
double cws_determinant
 
double fu
 
double fv
 
int maximum_number_of_correspondences
 
cv::Mat mBestTcw
 
int mnBestInliers
 
int mnInliersi
 
int mnIterations
 
int mnRefinedInliers
 
float mRansacEpsilon
 
int mRansacMaxIts
 
int mRansacMinInliers
 
int mRansacMinSet
 
double mRansacProb
 
float mRansacTh
 
cv::Mat mRefinedTcw
 
double mRi [3][3]
 
cv::Mat mTcwi
 
double mti [3]
 
vector< size_t > mvAllIndices
 
vector< bool > mvbBestInliers
 
vector< bool > mvbInliersi
 
vector< bool > mvbRefinedInliers
 
vector< size_t > mvKeyPointIndices
 
vector< float > mvMaxError
 
vector< cv::Point2f > mvP2D
 
vector< cv::Point3f > mvP3Dw
 
vector< MapPoint * > mvpMapPointMatches
 
vector< float > mvSigma2
 
int N
 
int number_of_correspondences
 
double * pcs
 
double * pws
 
double uc
 
double * us
 
double vc
 

Detailed Description

Definition at line 62 of file PnPsolver.h.

Constructor & Destructor Documentation

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

Definition at line 67 of file PnPsolver.cc.

ORB_SLAM2::PnPsolver::~PnPsolver ( )

Definition at line 112 of file PnPsolver.cc.

Member Function Documentation

void ORB_SLAM2::PnPsolver::add_correspondence ( const double  X,
const double  Y,
const double  Z,
const double  u,
const double  v 
)
private

Definition at line 363 of file PnPsolver.cc.

void ORB_SLAM2::PnPsolver::CheckInliers ( )
private

Definition at line 308 of file PnPsolver.cc.

void ORB_SLAM2::PnPsolver::choose_control_points ( void  )
private

Definition at line 375 of file PnPsolver.cc.

void ORB_SLAM2::PnPsolver::compute_A_and_b_gauss_newton ( const double *  l_6x10,
const double *  rho,
double  cb[4],
CvMat *  A,
CvMat *  b 
)
private

Definition at line 812 of file PnPsolver.cc.

void ORB_SLAM2::PnPsolver::compute_barycentric_coordinates ( void  )
private

Definition at line 411 of file PnPsolver.cc.

void ORB_SLAM2::PnPsolver::compute_ccs ( const double *  betas,
const double *  ut 
)
private

Definition at line 453 of file PnPsolver.cc.

void ORB_SLAM2::PnPsolver::compute_L_6x10 ( const double *  ut,
double *  l_6x10 
)
private

Definition at line 760 of file PnPsolver.cc.

void ORB_SLAM2::PnPsolver::compute_pcs ( void  )
private

Definition at line 466 of file PnPsolver.cc.

double ORB_SLAM2::PnPsolver::compute_pose ( double  R[3][3],
double  T[3] 
)
private

Definition at line 477 of file PnPsolver.cc.

double ORB_SLAM2::PnPsolver::compute_R_and_t ( const double *  ut,
const double *  betas,
double  R[3][3],
double  t[3] 
)
private

Definition at line 651 of file PnPsolver.cc.

void ORB_SLAM2::PnPsolver::compute_rho ( double *  rho)
private

Definition at line 802 of file PnPsolver.cc.

void ORB_SLAM2::PnPsolver::copy_R_and_t ( const double  R_dst[3][3],
const double  t_dst[3],
double  R_src[3][3],
double  t_src[3] 
)
private

Definition at line 527 of file PnPsolver.cc.

double ORB_SLAM2::PnPsolver::dist2 ( const double *  p1,
const double *  p2 
)
private

Definition at line 537 of file PnPsolver.cc.

double ORB_SLAM2::PnPsolver::dot ( const double *  v1,
const double *  v2 
)
private

Definition at line 545 of file PnPsolver.cc.

void ORB_SLAM2::PnPsolver::estimate_R_and_t ( double  R[3][3],
double  t[3] 
)
private

Definition at line 569 of file PnPsolver.cc.

void ORB_SLAM2::PnPsolver::fill_M ( CvMat *  M,
const int  row,
const double *  alphas,
const double  u,
const double  v 
)
private

Definition at line 436 of file PnPsolver.cc.

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

Definition at line 159 of file PnPsolver.cc.

void ORB_SLAM2::PnPsolver::find_betas_approx_1 ( const CvMat *  L_6x10,
const CvMat *  Rho,
double *  betas 
)
private

Definition at line 667 of file PnPsolver.cc.

void ORB_SLAM2::PnPsolver::find_betas_approx_2 ( const CvMat *  L_6x10,
const CvMat *  Rho,
double *  betas 
)
private

Definition at line 699 of file PnPsolver.cc.

void ORB_SLAM2::PnPsolver::find_betas_approx_3 ( const CvMat *  L_6x10,
const CvMat *  Rho,
double *  betas 
)
private

Definition at line 731 of file PnPsolver.cc.

void ORB_SLAM2::PnPsolver::gauss_newton ( const CvMat *  L_6x10,
const CvMat *  Rho,
double  current_betas[4] 
)
private

Definition at line 840 of file PnPsolver.cc.

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

Definition at line 165 of file PnPsolver.cc.

void ORB_SLAM2::PnPsolver::mat_to_quat ( const double  R[3][3],
double  q[4] 
)
private

Definition at line 984 of file PnPsolver.cc.

void ORB_SLAM2::PnPsolver::print_pose ( const double  R[3][3],
const double  t[3] 
)
private

Definition at line 629 of file PnPsolver.cc.

void ORB_SLAM2::PnPsolver::qr_solve ( CvMat *  A,
CvMat *  b,
CvMat *  X 
)
private

Definition at line 860 of file PnPsolver.cc.

bool ORB_SLAM2::PnPsolver::Refine ( )
private

Definition at line 260 of file PnPsolver.cc.

void ORB_SLAM2::PnPsolver::relative_error ( double &  rot_err,
double &  transl_err,
const double  Rtrue[3][3],
const double  ttrue[3],
const double  Rest[3][3],
const double  test[3] 
)
private

Definition at line 954 of file PnPsolver.cc.

double ORB_SLAM2::PnPsolver::reprojection_error ( const double  R[3][3],
const double  t[3] 
)
private

Definition at line 550 of file PnPsolver.cc.

void ORB_SLAM2::PnPsolver::reset_correspondences ( void  )
private

Definition at line 358 of file PnPsolver.cc.

void ORB_SLAM2::PnPsolver::set_maximum_number_of_correspondences ( const int  n)
private

Definition at line 342 of file PnPsolver.cc.

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 
)

Definition at line 121 of file PnPsolver.cc.

void ORB_SLAM2::PnPsolver::solve_for_sign ( void  )
private

Definition at line 636 of file PnPsolver.cc.

Member Data Documentation

double * ORB_SLAM2::PnPsolver::alphas
private

Definition at line 131 of file PnPsolver.h.

double ORB_SLAM2::PnPsolver::ccs[4][3]
private

Definition at line 135 of file PnPsolver.h.

double ORB_SLAM2::PnPsolver::cws[4][3]
private

Definition at line 135 of file PnPsolver.h.

double ORB_SLAM2::PnPsolver::cws_determinant
private

Definition at line 136 of file PnPsolver.h.

double ORB_SLAM2::PnPsolver::fu
private

Definition at line 129 of file PnPsolver.h.

double ORB_SLAM2::PnPsolver::fv
private

Definition at line 129 of file PnPsolver.h.

int ORB_SLAM2::PnPsolver::maximum_number_of_correspondences
private

Definition at line 132 of file PnPsolver.h.

cv::Mat ORB_SLAM2::PnPsolver::mBestTcw
private

Definition at line 161 of file PnPsolver.h.

int ORB_SLAM2::PnPsolver::mnBestInliers
private

Definition at line 160 of file PnPsolver.h.

int ORB_SLAM2::PnPsolver::mnInliersi
private

Definition at line 155 of file PnPsolver.h.

int ORB_SLAM2::PnPsolver::mnIterations
private

Definition at line 158 of file PnPsolver.h.

int ORB_SLAM2::PnPsolver::mnRefinedInliers
private

Definition at line 166 of file PnPsolver.h.

float ORB_SLAM2::PnPsolver::mRansacEpsilon
private

Definition at line 184 of file PnPsolver.h.

int ORB_SLAM2::PnPsolver::mRansacMaxIts
private

Definition at line 181 of file PnPsolver.h.

int ORB_SLAM2::PnPsolver::mRansacMinInliers
private

Definition at line 178 of file PnPsolver.h.

int ORB_SLAM2::PnPsolver::mRansacMinSet
private

Definition at line 190 of file PnPsolver.h.

double ORB_SLAM2::PnPsolver::mRansacProb
private

Definition at line 175 of file PnPsolver.h.

float ORB_SLAM2::PnPsolver::mRansacTh
private

Definition at line 187 of file PnPsolver.h.

cv::Mat ORB_SLAM2::PnPsolver::mRefinedTcw
private

Definition at line 164 of file PnPsolver.h.

double ORB_SLAM2::PnPsolver::mRi[3][3]
private

Definition at line 151 of file PnPsolver.h.

cv::Mat ORB_SLAM2::PnPsolver::mTcwi
private

Definition at line 153 of file PnPsolver.h.

double ORB_SLAM2::PnPsolver::mti[3]
private

Definition at line 152 of file PnPsolver.h.

vector<size_t> ORB_SLAM2::PnPsolver::mvAllIndices
private

Definition at line 172 of file PnPsolver.h.

vector<bool> ORB_SLAM2::PnPsolver::mvbBestInliers
private

Definition at line 159 of file PnPsolver.h.

vector<bool> ORB_SLAM2::PnPsolver::mvbInliersi
private

Definition at line 154 of file PnPsolver.h.

vector<bool> ORB_SLAM2::PnPsolver::mvbRefinedInliers
private

Definition at line 165 of file PnPsolver.h.

vector<size_t> ORB_SLAM2::PnPsolver::mvKeyPointIndices
private

Definition at line 148 of file PnPsolver.h.

vector<float> ORB_SLAM2::PnPsolver::mvMaxError
private

Definition at line 193 of file PnPsolver.h.

vector<cv::Point2f> ORB_SLAM2::PnPsolver::mvP2D
private

Definition at line 141 of file PnPsolver.h.

vector<cv::Point3f> ORB_SLAM2::PnPsolver::mvP3Dw
private

Definition at line 145 of file PnPsolver.h.

vector<MapPoint*> ORB_SLAM2::PnPsolver::mvpMapPointMatches
private

Definition at line 138 of file PnPsolver.h.

vector<float> ORB_SLAM2::PnPsolver::mvSigma2
private

Definition at line 142 of file PnPsolver.h.

int ORB_SLAM2::PnPsolver::N
private

Definition at line 169 of file PnPsolver.h.

int ORB_SLAM2::PnPsolver::number_of_correspondences
private

Definition at line 133 of file PnPsolver.h.

double * ORB_SLAM2::PnPsolver::pcs
private

Definition at line 131 of file PnPsolver.h.

double* ORB_SLAM2::PnPsolver::pws
private

Definition at line 131 of file PnPsolver.h.

double ORB_SLAM2::PnPsolver::uc
private

Definition at line 129 of file PnPsolver.h.

double * ORB_SLAM2::PnPsolver::us
private

Definition at line 131 of file PnPsolver.h.

double ORB_SLAM2::PnPsolver::vc
private

Definition at line 129 of file PnPsolver.h.

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

orb_slam2_ros
Author(s):
autogenerated on Wed Apr 21 2021 02:53:06