Public Member Functions
	ORBmatcher (float nnratio=0.6, bool checkOri=true)

int	SearchByProjection (Frame &F, const std::vector< MapPoint *> &vpMapPoints, const float th=3)

int	SearchByProjection (Frame &CurrentFrame, const Frame &LastFrame, const float th, const bool bMono)

int	SearchByProjection (Frame &CurrentFrame, KeyFrame pKF, const std::set< MapPoint > &sAlreadyFound, const float th, const int ORBdist)

int	SearchByProjection (KeyFrame pKF, cv::Mat Scw, const std::vector< MapPoint > &vpPoints, std::vector< MapPoint *> &vpMatched, int th)

int	SearchByBoW (KeyFrame pKF, Frame &F, std::vector< MapPoint > &vpMapPointMatches)

int	SearchByBoW (KeyFrame pKF1, KeyFrame pKF2, std::vector< MapPoint *> &vpMatches12)

int	SearchForInitialization (Frame &F1, Frame &F2, std::vector< cv::Point2f > &vbPrevMatched, std::vector< int > &vnMatches12, int windowSize=10)

int	SearchForTriangulation (KeyFrame pKF1, KeyFrame pKF2, cv::Mat F12, std::vector< pair< size_t, size_t > > &vMatchedPairs, const bool bOnlyStereo)

int	SearchBySim3 (KeyFrame pKF1, KeyFrame pKF2, std::vector< MapPoint *> &vpMatches12, const float &s12, const cv::Mat &R12, const cv::Mat &t12, const float th)

int	Fuse (KeyFrame pKF, const vector< MapPoint > &vpMapPoints, const float th=3.0)

int	Fuse (KeyFrame pKF, cv::Mat Scw, const std::vector< MapPoint > &vpPoints, float th, vector< MapPoint *> &vpReplacePoint)

Static Public Member Functions
static int	DescriptorDistance (const cv::Mat &a, const cv::Mat &b)

Protected Member Functions
bool	CheckDistEpipolarLine (const cv::KeyPoint &kp1, const cv::KeyPoint &kp2, const cv::Mat &F12, const KeyFrame *pKF)

float	RadiusByViewingCos (const float &viewCos)

void	ComputeThreeMaxima (std::vector< int > *histo, const int L, int &ind1, int &ind2, int &ind3)

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

Public Member Functions

Static Public Member Functions