Matches ORB features between frames, keyframes, and map points. More...

Collaboration diagram for ORBmatcher:

Public Member Functions
	ORBmatcher (float nnratio=0.6f, bool checkOri=true)
	Constructs an ORB matcher.
void	setup (float mfNNratio=0.6f, bool checkOri=true)
	Reconfigures the matcher parameters.

Static Public Member Functions
static uint01	DescriptorDistance (const cv::Mat &a, const cv::Mat &b)
	Computes the Hamming distance between two ORB descriptors.

Detailed Description

Matches ORB features between frames, keyframes, and map points.

Provides methods for feature matching by projection, BoW, initialization, triangulation, Sim3 search, and map point fusion.

Definition at line 25 of file ORBmatcher.h.

Constructor & Destructor Documentation

ORBmatcher::ORBmatcher	(	float	nnratio = 0.6f,
		bool	checkOri = true )

Constructs an ORB matcher.

Parameters

[in]	nnratio	Nearest-neighbor distance ratio threshold.
[in]	checkOri	True to verify orientation consistency.

uint01 ORBmatcher::DescriptorDistance	(	const cv::Mat &	a,
		const cv::Mat &	b )

static

Computes the Hamming distance between two ORB descriptors.

Parameters

[in]	a	First descriptor.
[in]	b	Second descriptor.

void ORBmatcher::setup	(	float	mfNNratio = 0.6f,
		bool	checkOri = true )

Reconfigures the matcher parameters.

Parameters

[in]	mfNNratio	Nearest-neighbor distance ratio threshold.
[in]	checkOri	True to verify orientation consistency.

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