ORB_SLAM2 Namespace Reference

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

Detailed Description

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:

1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.

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

Typedef Documentation

typedef DBoW2::TemplatedVocabulary<DBoW2::FORB::TDescriptor, DBoW2::FORB> ORB_SLAM2::ORBVocabulary

Definition at line 32 of file ORBVocabulary.h.

Function Documentation

static void ORB_SLAM2::computeDescriptors ( const Mat &  image, vector< KeyPoint > &  keypoints, Mat &  descriptors, const vector< Point > &  pattern  )

static

Definition at line 1034 of file ORBextractor.cc.

static void ORB_SLAM2::computeOrbDescriptor ( const KeyPoint &  kpt, const Mat &  img, const Point *  pattern, uchar *  desc  )

static

Definition at line 108 of file ORBextractor.cc.

static void ORB_SLAM2::computeOrientation ( const Mat &  image, vector< KeyPoint > &  keypoints, const vector< int > &  umax  )

static

Definition at line 472 of file ORBextractor.cc.

static float ORB_SLAM2::IC_Angle ( const Mat &  image, Point2f  pt, const vector< int > &  u_max  )

static

Definition at line 77 of file ORBextractor.cc.

Variable Documentation

int ORB_SLAM2::bit_pattern_31_[256 *4]

static

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.