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< Match >	mvMatches12
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.

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

• Initializer.h