ORB-SLAM2中将\beta某几项设为0时,使用3种不同的设置方法,对应的函数为分别为: voidPnPsolver::find_betas_approx_1();//[B11 B12 B13 B14],其余为0voidPnPsolver::find_betas_approx_2();//[B11 B12 B22],其余为0voidPnPsolver::find_betas_approx_3();//[B11 B12 B22 B13 B23],其余为0 b...
3. 3D-3D求解位姿:PnPsolver::compute_R_and_t(const double* ut, const double* betas, double R[3][3], double t[3]) 3.1 根据Betas求解相系下的4个控制点compute_ccs void PnPsolver::compute_ccs(const double* betas, const double* ut) { for (int i = 0; i < 4; i++) ccs[i][0]...
mnIterations(0), mnBestInliers(0), N(0) 构造函数取出2维特征点,世界坐标系下的3D点,只记录坐标,特征点在哪一层取出来的,调用SetRansacParameters(),设置默认的RANSAC参数,这个和Sim3Solver中的操作是相同的 void PnPsolver::SetRansacParameters(double probability, int minInliers, int maxIterations, int m...
在ORB-SLAM(orb slam)中,两帧之间的位姿变换可以通过调用`PnPsolver`类的成员函数来计算。下面是一些可能会被调用的函数: - `构造函数`PnPsolver()`:该函数用于初始化对象,需要传入常数帧和存放MapPoint指针的容器作为参数。 - `循环遍历匹配的MapPoint`:遍历匹配的MapPoint,在MapPoint不为`bad`的情况下,取出对...
namespaceORB_SLAM { classPnPsolver{ public: PnPsolver(constFrame &F,constvector<MapPoint*> &vpMapPointMatches); ~PnPsolver(); voidSetRansacParameters(doubleprobability =0.99,intminInliers =8,intmaxIterations =300,intminSet =4,floatepsilon =0.4, ...
ORB-SLAM2系列之详解PnPsolver类 https://zhuanlan.zhihu.com/p/149017276 视觉SLAM中的数学——外点处理:鲁棒核函数 RANSAC方法 https://blog.csdn.net/qq_41839222/article/details/88238432 注释ORB-SLAM3 - 一张图理解函数调用逻辑 https://zhuanlan.zhihu.com/p/334811337 ...
PnPsolver.cc Sim3Solver.cc Tracking.cc main.cc CMakeLists.txt Changelog.md Dependencies.md ExampleFuerte.launch ExampleGroovyOrNewer.launch LICENSE.txt License-gpl.txt README.md README.txt manifest.xml Breadcrumbs ORB_SLAM /src / Latest commit ...
I used the opencv4.2.0 ,and occur this problem: /home/music/catkin_ws/src/ORB_SLAM2/src/PnPsolver.cc:841:6: error: no declaration matches ‘void ORB_SLAM2::PnPsolver::gauss_newton(const CvMat*, const CvMat*, double*)’ 841 | void PnPsolver...
BreadcrumbsHistory for ORB_SLAM src PnPsolver.cc onmaster User selector All users DatepickerAll time Commit History Commits on Jan 9, 2016 Update PnPsolver.cc raulmurcommittedJan 9, 2016 0fd0332 Commits on Mar 3, 2015 adding files raulmurcommittedMar 4, 2015 aeaacbe End of commit hi...