Classes | |
class | Converter |
class | ExtractorNode |
class | Frame |
class | FrameDrawer |
class | Initializer |
class | KeyFrame |
class | KeyFrameDatabase |
class | LocalMapping |
class | LoopClosing |
class | Map |
class | MapPoint |
class | Optimizer |
class | ORBextractor |
class | ORBmatcher |
struct | ORBParameters |
class | PnPsolver |
class | Sim3Solver |
class | System |
class | Tracking |
Typedefs | |
typedef DBoW2::TemplatedVocabulary< DBoW2::FORB::TDescriptor, DBoW2::FORB > | ORBVocabulary |
Functions | |
static void | computeDescriptors (const Mat &image, vector< KeyPoint > &keypoints, Mat &descriptors, const vector< Point > &pattern) |
static void | computeOrbDescriptor (const KeyPoint &kpt, const Mat &img, const Point *pattern, uchar *desc) |
static void | computeOrientation (const Mat &image, vector< KeyPoint > &keypoints, const vector< int > &umax) |
static float | IC_Angle (const Mat &image, Point2f pt, const vector< int > &u_max) |
Variables | |
static int | bit_pattern_31_ [256 *4] |
const int | EDGE_THRESHOLD = 19 |
const float | factorPI = (float)(CV_PI/180.f) |
const int | HALF_PATCH_SIZE = 15 |
const int | PATCH_SIZE = 31 |
This file is part of ORB-SLAM2.
Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at="" unizar="" dot="" es>=""> (University of Zaragoza) For more information see https://github.com/raulmur/ORB_SLAM2
ORB-SLAM2 is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
ORB-SLAM2 is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along with ORB-SLAM2. If not, see http://www.gnu.org/licenses/.
This file is part of ORB-SLAM2. This file is a modified version of EPnP http://cvlab.epfl.ch/EPnP/index.php, see FreeBSD license below.
Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at="" unizar="" dot="" es>=""> (University of Zaragoza) For more information see https://github.com/raulmur/ORB_SLAM2
ORB-SLAM2 is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
ORB-SLAM2 is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along with ORB-SLAM2. If not, see http://www.gnu.org/licenses/. Copyright (c) 2009, V. Lepetit, EPFL All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
The views and conclusions contained in the software and documentation are those of the authors and should not be interpreted as representing official policies, either expressed or implied, of the FreeBSD Project
Definition at line 32 of file ORBVocabulary.h.
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Definition at line 1034 of file ORBextractor.cc.
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static |
Definition at line 108 of file ORBextractor.cc.
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Definition at line 472 of file ORBextractor.cc.
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Definition at line 77 of file ORBextractor.cc.
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Definition at line 150 of file ORBextractor.cc.
const int ORB_SLAM2::EDGE_THRESHOLD = 19 |
Definition at line 74 of file ORBextractor.cc.
const float ORB_SLAM2::factorPI = (float)(CV_PI/180.f) |
Definition at line 107 of file ORBextractor.cc.
const int ORB_SLAM2::HALF_PATCH_SIZE = 15 |
Definition at line 73 of file ORBextractor.cc.
const int ORB_SLAM2::PATCH_SIZE = 31 |
Definition at line 72 of file ORBextractor.cc.