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

#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< MatchmvMatches12
 
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 
)

Member Function Documentation

float ORB_SLAM2::Initializer::CheckFundamental ( const cv::Mat &  F21,
vector< bool > &  vbMatchesInliers,
float  sigma 
)
private
float ORB_SLAM2::Initializer::CheckHomography ( const cv::Mat &  H21,
const cv::Mat &  H12,
vector< bool > &  vbMatchesInliers,
float  sigma 
)
private
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
cv::Mat ORB_SLAM2::Initializer::ComputeF21 ( const vector< cv::Point2f > &  vP1,
const vector< cv::Point2f > &  vP2 
)
private
cv::Mat ORB_SLAM2::Initializer::ComputeH21 ( const vector< cv::Point2f > &  vP1,
const vector< cv::Point2f > &  vP2 
)
private
void ORB_SLAM2::Initializer::DecomposeE ( const cv::Mat &  E,
cv::Mat &  R1,
cv::Mat &  R2,
cv::Mat &  t 
)
private
void ORB_SLAM2::Initializer::FindFundamental ( vector< bool > &  vbInliers,
float &  score,
cv::Mat &  F21 
)
private
void ORB_SLAM2::Initializer::FindHomography ( vector< bool > &  vbMatchesInliers,
float &  score,
cv::Mat &  H21 
)
private
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 
)
void ORB_SLAM2::Initializer::Normalize ( const vector< cv::KeyPoint > &  vKeys,
vector< cv::Point2f > &  vNormalizedPoints,
cv::Mat &  T 
)
private
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
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
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

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 file:


orb_slam2_with_maps_odom
Author(s): teng zhang
autogenerated on Fri Sep 25 2020 03:24:47