Sim3Solver

Computes a Sim3 transformation between two keyframes using RANSAC. More...

Collaboration diagram for Sim3Solver:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Sim3Solver (KeyFrame *pKF1, KeyFrame *pKF2, const Buffer< MapPoint * > &vpMatched12, const bool bFixScale=true, const Buffer< KeyFrame * > vpKeyFrameMatchedMP=Buffer< KeyFrame * >())
	Constructs the Sim3 solver.
Eigen::Matrix4f	find (Buffer< bool > &vbInliers12, uint04 &nInliers)
	Finds the best Sim3 transformation using RANSAC.
Eigen::Matrix3f	GetEstimatedRotation ()
	Returns the estimated rotation matrix.
float	GetEstimatedScale ()
	Returns the estimated scale factor.
Eigen::Matrix4f	GetEstimatedTransformation ()
	Returns the estimated transformation matrix.
Eigen::Vector3f	GetEstimatedTranslation ()
	Returns the estimated translation vector.
Eigen::Matrix4f	iterate (uint04 nIterations, bool &bNoMore, Buffer< bool > &vbInliers, uint04 &nInliers)
	Runs a fixed number of RANSAC iterations.
Eigen::Matrix4f	iterate (uint04 nIterations, bool &bNoMore, Buffer< bool > &vbInliers, uint04 &nInliers, bool &bConverge)
	Runs a fixed number of RANSAC iterations with convergence check.
void	setRansacParameters (fltp04 probability=0.99f, uint04 minInliers=6, uint04 maxIterations=300)
	Sets RANSAC parameters.

Detailed Description

Computes a Sim3 transformation between two keyframes using RANSAC.

Used in loop closing to compute the similarity transformation between matched keyframes, handling scale differences in monocular SLAM.

Definition at line 38 of file Sim3Solver.h.

Constructor & Destructor Documentation

Sim3Solver()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW Sim3Solver::Sim3Solver	(	KeyFrame *	pKF1,
		KeyFrame *	pKF2,
		const Buffer< MapPoint * > &	vpMatched12,
		const bool	bFixScale = true,
		const Buffer< KeyFrame * >	vpKeyFrameMatchedMP = Buffer< KeyFrame * >() )

Constructs the Sim3 solver.

Parameters

[in]	pKF1	First keyframe.
[in]	pKF2	Second keyframe.
[in]	vpMatched12	Map point matches from KF1 to KF2.
[in]	bFixScale	True for stereo/RGB-D (scale is fixed to 1).
[in]	vpKeyFrameMatchedMP	Keyframes associated with matched map points.

Member Function Documentation

find()

Eigen::Matrix4f Sim3Solver::find	(	Buffer< bool > &	vbInliers12,
		uint04 &	nInliers )

Finds the best Sim3 transformation using RANSAC.

Parameters

[out]	vbInliers12	Inlier flags per match.
[out]	nInliers	Number of inliers found.

Returns

The best 4x4 transformation matrix.

GetEstimatedRotation()

Eigen::Matrix3f Sim3Solver::GetEstimatedRotation

(

)

Returns the estimated rotation matrix.

Returns

The 3x3 rotation.

GetEstimatedScale()

float Sim3Solver::GetEstimatedScale

(

)

Returns the estimated scale factor.

Returns

The scale.

GetEstimatedTransformation()

Eigen::Matrix4f Sim3Solver::GetEstimatedTransformation

(

)

Returns the estimated transformation matrix.

Returns

The 4x4 transformation.

GetEstimatedTranslation()

Eigen::Vector3f Sim3Solver::GetEstimatedTranslation

(

)

Returns the estimated translation vector.

Returns

The 3D translation.

iterate() [1/2]

Eigen::Matrix4f Sim3Solver::iterate	(	uint04	nIterations,
		bool &	bNoMore,
		Buffer< bool > &	vbInliers,
		uint04 &	nInliers )

Runs a fixed number of RANSAC iterations.

Parameters

[in]	nIterations	Number of iterations to run.
[out]	bNoMore	True if all iterations have been exhausted.
[out]	vbInliers	Inlier flags per match.
[out]	nInliers	Number of inliers.

Returns

The best 4x4 transformation matrix found so far.

iterate() [2/2]

Eigen::Matrix4f Sim3Solver::iterate	(	uint04	nIterations,
		bool &	bNoMore,
		Buffer< bool > &	vbInliers,
		uint04 &	nInliers,
		bool &	bConverge )

Runs a fixed number of RANSAC iterations with convergence check.

Parameters

[in]	nIterations	Number of iterations to run.
[out]	bNoMore	True if all iterations have been exhausted.
[out]	vbInliers	Inlier flags per match.
[out]	nInliers	Number of inliers.
[out]	bConverge	True if the solution has converged.

Returns

The best 4x4 transformation matrix found so far.

setRansacParameters()

void Sim3Solver::setRansacParameters	(	fltp04	probability = 0.99f,
		uint04	minInliers = 6,
		uint04	maxIterations = 300 )

Sets RANSAC parameters.

Parameters

[in]	probability	Success probability.
[in]	minInliers	Minimum inlier count.
[in]	maxIterations	Maximum RANSAC iterations.

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

• OrbSLAM/Headers/Sim3Solver.h