ORB_SLAM2::Sim3Solver Class Reference

Collaboration diagram for ORB_SLAM2::Sim3Solver:

Public Member Functions
	Sim3Solver (KeyFrame *pKF1, KeyFrame *pKF2, const std::vector< MapPoint *> &vpMatched12, const bool bFixScale=true)
void	SetRansacParameters (double probability=0.99, int minInliers=6, int maxIterations=300)
cv::Mat	find (std::vector< bool > &vbInliers12, int &nInliers)
cv::Mat	iterate (int nIterations, bool &bNoMore, std::vector< bool > &vbInliers, int &nInliers)
cv::Mat	GetEstimatedRotation ()
cv::Mat	GetEstimatedTranslation ()
float	GetEstimatedScale ()

Protected Member Functions
void	ComputeCentroid (cv::Mat &P, cv::Mat &Pr, cv::Mat &C)
void	ComputeSim3 (cv::Mat &P1, cv::Mat &P2)
void	CheckInliers ()
void	Project (const std::vector< cv::Mat > &vP3Dw, std::vector< cv::Mat > &vP2D, cv::Mat Tcw, cv::Mat K)
void	FromCameraToImage (const std::vector< cv::Mat > &vP3Dc, std::vector< cv::Mat > &vP2D, cv::Mat K)

Protected Attributes
KeyFrame *	mpKF1
KeyFrame *	mpKF2
std::vector< cv::Mat >	mvX3Dc1
std::vector< cv::Mat >	mvX3Dc2
std::vector< MapPoint * >	mvpMapPoints1
std::vector< MapPoint * >	mvpMapPoints2
std::vector< MapPoint * >	mvpMatches12
std::vector< size_t >	mvnIndices1
std::vector< size_t >	mvSigmaSquare1
std::vector< size_t >	mvSigmaSquare2
std::vector< size_t >	mvnMaxError1
std::vector< size_t >	mvnMaxError2
int	N
int	mN1
cv::Mat	mR12i
cv::Mat	mt12i
float	ms12i
cv::Mat	mT12i
cv::Mat	mT21i
std::vector< bool >	mvbInliersi
int	mnInliersi
int	mnIterations
std::vector< bool >	mvbBestInliers
int	mnBestInliers
cv::Mat	mBestT12
cv::Mat	mBestRotation
cv::Mat	mBestTranslation
float	mBestScale
bool	mbFixScale
std::vector< size_t >	mvAllIndices
std::vector< cv::Mat >	mvP1im1
std::vector< cv::Mat >	mvP2im2
double	mRansacProb
int	mRansacMinInliers
int	mRansacMaxIts
float	mTh
float	mSigma2
cv::Mat	mK1
cv::Mat	mK2

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

• /home/yubao/data/catkin_ws/src/ORB_SLAM2/include/Sim3Solver.h
• /home/yubao/data/catkin_ws/src/ORB_SLAM2/src/Sim3Solver.cpp