#include <Sim3Solver.h>

Public Member Functions
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)

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

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

Detailed Description

Definition at line 36 of file Sim3Solver.h.

Constructor & Destructor Documentation

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

Definition at line 37 of file Sim3Solver.cc.

Member Function Documentation

void ORB_SLAM2::Sim3Solver::CheckInliers ( )

protected

Definition at line 340 of file Sim3Solver.cc.

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

protected

Definition at line 215 of file Sim3Solver.cc.

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

protected

Definition at line 226 of file Sim3Solver.cc.

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

Definition at line 209 of file Sim3Solver.cc.

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

protected

Definition at line 405 of file Sim3Solver.cc.

cv::Mat ORB_SLAM2::Sim3Solver::GetEstimatedRotation ( )

Definition at line 367 of file Sim3Solver.cc.

float ORB_SLAM2::Sim3Solver::GetEstimatedScale ( )

Definition at line 377 of file Sim3Solver.cc.

cv::Mat ORB_SLAM2::Sim3Solver::GetEstimatedTranslation ( )

Definition at line 372 of file Sim3Solver.cc.

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

Definition at line 140 of file Sim3Solver.cc.

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

protected

Definition at line 382 of file Sim3Solver.cc.

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

Definition at line 114 of file Sim3Solver.cc.

Member Data Documentation

cv::Mat ORB_SLAM2::Sim3Solver::mBestRotation

protected

Definition at line 99 of file Sim3Solver.h.

float ORB_SLAM2::Sim3Solver::mBestScale

protected

Definition at line 101 of file Sim3Solver.h.

cv::Mat ORB_SLAM2::Sim3Solver::mBestT12

protected

Definition at line 98 of file Sim3Solver.h.

cv::Mat ORB_SLAM2::Sim3Solver::mBestTranslation

protected

Definition at line 100 of file Sim3Solver.h.

bool ORB_SLAM2::Sim3Solver::mbFixScale

protected

Definition at line 104 of file Sim3Solver.h.

cv::Mat ORB_SLAM2::Sim3Solver::mK1

protected

Definition at line 127 of file Sim3Solver.h.

cv::Mat ORB_SLAM2::Sim3Solver::mK2

protected

Definition at line 128 of file Sim3Solver.h.

int ORB_SLAM2::Sim3Solver::mN1

protected

Definition at line 83 of file Sim3Solver.h.

int ORB_SLAM2::Sim3Solver::mnBestInliers

protected

Definition at line 97 of file Sim3Solver.h.

int ORB_SLAM2::Sim3Solver::mnInliersi

protected

Definition at line 92 of file Sim3Solver.h.

int ORB_SLAM2::Sim3Solver::mnIterations

protected

Definition at line 95 of file Sim3Solver.h.

KeyFrame* ORB_SLAM2::Sim3Solver::mpKF1

protected

Definition at line 68 of file Sim3Solver.h.

KeyFrame* ORB_SLAM2::Sim3Solver::mpKF2

protected

Definition at line 69 of file Sim3Solver.h.

cv::Mat ORB_SLAM2::Sim3Solver::mR12i

protected

Definition at line 86 of file Sim3Solver.h.

int ORB_SLAM2::Sim3Solver::mRansacMaxIts

protected

Definition at line 120 of file Sim3Solver.h.

int ORB_SLAM2::Sim3Solver::mRansacMinInliers

protected

Definition at line 117 of file Sim3Solver.h.

double ORB_SLAM2::Sim3Solver::mRansacProb

protected

Definition at line 114 of file Sim3Solver.h.

float ORB_SLAM2::Sim3Solver::ms12i

protected

Definition at line 88 of file Sim3Solver.h.

float ORB_SLAM2::Sim3Solver::mSigma2

protected

Definition at line 124 of file Sim3Solver.h.

cv::Mat ORB_SLAM2::Sim3Solver::mt12i

protected

Definition at line 87 of file Sim3Solver.h.

cv::Mat ORB_SLAM2::Sim3Solver::mT12i

protected

Definition at line 89 of file Sim3Solver.h.

cv::Mat ORB_SLAM2::Sim3Solver::mT21i

protected

Definition at line 90 of file Sim3Solver.h.

float ORB_SLAM2::Sim3Solver::mTh

protected

Definition at line 123 of file Sim3Solver.h.

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

protected

Definition at line 107 of file Sim3Solver.h.

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

protected

Definition at line 96 of file Sim3Solver.h.

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

protected

Definition at line 91 of file Sim3Solver.h.

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

protected

Definition at line 76 of file Sim3Solver.h.

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

protected

Definition at line 79 of file Sim3Solver.h.

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

protected

Definition at line 80 of file Sim3Solver.h.

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

protected

Definition at line 110 of file Sim3Solver.h.

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

protected

Definition at line 111 of file Sim3Solver.h.

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

protected

Definition at line 73 of file Sim3Solver.h.

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

protected

Definition at line 74 of file Sim3Solver.h.

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

protected

Definition at line 75 of file Sim3Solver.h.

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

protected

Definition at line 77 of file Sim3Solver.h.

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

protected

Definition at line 78 of file Sim3Solver.h.

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

protected

Definition at line 71 of file Sim3Solver.h.

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

protected

Definition at line 72 of file Sim3Solver.h.

int ORB_SLAM2::Sim3Solver::N

protected

Definition at line 82 of file Sim3Solver.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation