OpenCV  3.3.0-dev
Open Source Computer Vision
Public Member Functions | Public Attributes | Static Public Attributes | List of all members
ORB_SLAM2::Frame Class Reference

#include "Frame.h"

Public Member Functions

 Frame ()
 
 Frame (const Frame &frame)
 
 Frame (const cv::Mat &imLeft, const cv::Mat &imRight, const double &timeStamp, ORBextractor *extractorLeft, ORBextractor *extractorRight, ORBVocabulary *voc, cv::Mat &K, cv::Mat &distCoef, const float &bf, const float &thDepth)
 
 Frame (const cv::Mat &imGray, const cv::Mat &imDepth, const double &timeStamp, ORBextractor *extractor, ORBVocabulary *voc, cv::Mat &K, cv::Mat &distCoef, const float &bf, const float &thDepth)
 
 Frame (const cv::Mat &imGray, const double &timeStamp, ORBextractor *extractor, ORBVocabulary *voc, cv::Mat &K, cv::Mat &distCoef, const float &bf, const float &thDepth)
 
void ComputeBoW ()
 
void ComputeStereoFromRGBD (const cv::Mat &imDepth)
 
void ComputeStereoMatches ()
 
void ExtractORB (int flag, const cv::Mat &im)
 
cv::Mat GetCameraCenter ()
 
vector< size_tGetFeaturesInArea (const float &x, const float &y, const float &r, const int minLevel=-1, const int maxLevel=-1) const
 
cv::Mat GetRotationInverse ()
 
bool isInFrustum (MapPoint *pMP, float viewingCosLimit)
 
bool PosInGrid (const cv::KeyPoint &kp, int &posX, int &posY)
 
void SetPose (cv::Mat Tcw)
 
cv::Mat UnprojectStereo (const int &i)
 
void UpdatePoseMatrices ()
 

Public Attributes

float mb
 
float mbf
 
DBoW2::BowVector mBowVec
 
cv::Mat mDescriptors
 
cv::Mat mDescriptorsRight
 
cv::Mat mDistCoef
 
DBoW2::FeatureVector mFeatVec
 
float mfLogScaleFactor
 
float mfScaleFactor
 
std::vector< std::size_tmGrid [64][48]
 
cv::Mat mK
 
long unsigned int mnId
 
int mnScaleLevels
 
ORBextractormpORBextractorLeft
 
ORBextractormpORBextractorRight
 
ORBVocabularympORBvocabulary
 
KeyFramempReferenceKF
 
cv::Mat mTcw
 
float mThDepth
 
double mTimeStamp
 
std::vector< bool > mvbOutlier
 
std::vector< float > mvDepth
 
vector< float > mvInvLevelSigma2
 
vector< float > mvInvScaleFactors
 
std::vector< cv::KeyPointmvKeys
 
std::vector< cv::KeyPointmvKeysRight
 
std::vector< cv::KeyPointmvKeysUn
 
vector< float > mvLevelSigma2
 
std::vector< MapPoint * > mvpMapPoints
 
vector< float > mvScaleFactors
 
std::vector< float > mvuRight
 
int N
 

Static Public Attributes

static float cx
 
static float cy
 
static float fx
 
static float fy
 
static float invfx
 
static float invfy
 
static bool mbInitialComputations
 
static float mfGridElementHeightInv
 
static float mfGridElementWidthInv
 
static float mnMaxX
 
static float mnMaxY
 
static float mnMinX
 
static float mnMinY
 
static long unsigned int nNextId
 

Constructor & Destructor Documentation

◆ Frame() [1/5]

ORB_SLAM2::Frame::Frame ( )

◆ Frame() [2/5]

ORB_SLAM2::Frame::Frame ( const Frame frame)

◆ Frame() [3/5]

ORB_SLAM2::Frame::Frame ( const cv::Mat imLeft,
const cv::Mat imRight,
const double &  timeStamp,
ORBextractor extractorLeft,
ORBextractor extractorRight,
ORBVocabulary voc,
cv::Mat K,
cv::Mat distCoef,
const float &  bf,
const float &  thDepth 
)

◆ Frame() [4/5]

ORB_SLAM2::Frame::Frame ( const cv::Mat imGray,
const cv::Mat imDepth,
const double &  timeStamp,
ORBextractor extractor,
ORBVocabulary voc,
cv::Mat K,
cv::Mat distCoef,
const float &  bf,
const float &  thDepth 
)

◆ Frame() [5/5]

ORB_SLAM2::Frame::Frame ( const cv::Mat imGray,
const double &  timeStamp,
ORBextractor extractor,
ORBVocabulary voc,
cv::Mat K,
cv::Mat distCoef,
const float &  bf,
const float &  thDepth 
)

Member Function Documentation

◆ ComputeBoW()

void ORB_SLAM2::Frame::ComputeBoW ( )

◆ ComputeStereoFromRGBD()

void ORB_SLAM2::Frame::ComputeStereoFromRGBD ( const cv::Mat imDepth)

◆ ComputeStereoMatches()

void ORB_SLAM2::Frame::ComputeStereoMatches ( )

◆ ExtractORB()

void ORB_SLAM2::Frame::ExtractORB ( int  flag,
const cv::Mat im 
)

◆ GetCameraCenter()

cv::Mat ORB_SLAM2::Frame::GetCameraCenter ( )
inline

◆ GetFeaturesInArea()

vector<size_t> ORB_SLAM2::Frame::GetFeaturesInArea ( const float &  x,
const float &  y,
const float &  r,
const int  minLevel = -1,
const int  maxLevel = -1 
) const

◆ GetRotationInverse()

cv::Mat ORB_SLAM2::Frame::GetRotationInverse ( )
inline

◆ isInFrustum()

bool ORB_SLAM2::Frame::isInFrustum ( MapPoint pMP,
float  viewingCosLimit 
)

◆ PosInGrid()

bool ORB_SLAM2::Frame::PosInGrid ( const cv::KeyPoint kp,
int &  posX,
int &  posY 
)

◆ SetPose()

void ORB_SLAM2::Frame::SetPose ( cv::Mat  Tcw)

◆ UnprojectStereo()

cv::Mat ORB_SLAM2::Frame::UnprojectStereo ( const int &  i)

◆ UpdatePoseMatrices()

void ORB_SLAM2::Frame::UpdatePoseMatrices ( )

Member Data Documentation

◆ cx

float ORB_SLAM2::Frame::cx
static

◆ cy

float ORB_SLAM2::Frame::cy
static

◆ fx

float ORB_SLAM2::Frame::fx
static

◆ fy

float ORB_SLAM2::Frame::fy
static

◆ invfx

float ORB_SLAM2::Frame::invfx
static

◆ invfy

float ORB_SLAM2::Frame::invfy
static

◆ mb

float ORB_SLAM2::Frame::mb

◆ mbf

float ORB_SLAM2::Frame::mbf

◆ mbInitialComputations

bool ORB_SLAM2::Frame::mbInitialComputations
static

◆ mBowVec

DBoW2::BowVector ORB_SLAM2::Frame::mBowVec

◆ mDescriptors

cv::Mat ORB_SLAM2::Frame::mDescriptors

◆ mDescriptorsRight

cv::Mat ORB_SLAM2::Frame::mDescriptorsRight

◆ mDistCoef

cv::Mat ORB_SLAM2::Frame::mDistCoef

◆ mFeatVec

DBoW2::FeatureVector ORB_SLAM2::Frame::mFeatVec

◆ mfGridElementHeightInv

float ORB_SLAM2::Frame::mfGridElementHeightInv
static

◆ mfGridElementWidthInv

float ORB_SLAM2::Frame::mfGridElementWidthInv
static

◆ mfLogScaleFactor

float ORB_SLAM2::Frame::mfLogScaleFactor

◆ mfScaleFactor

float ORB_SLAM2::Frame::mfScaleFactor

◆ mGrid

std::vector<std::size_t> ORB_SLAM2::Frame::mGrid[64][48]

◆ mK

cv::Mat ORB_SLAM2::Frame::mK

◆ mnId

long unsigned int ORB_SLAM2::Frame::mnId

◆ mnMaxX

float ORB_SLAM2::Frame::mnMaxX
static

◆ mnMaxY

float ORB_SLAM2::Frame::mnMaxY
static

◆ mnMinX

float ORB_SLAM2::Frame::mnMinX
static

◆ mnMinY

float ORB_SLAM2::Frame::mnMinY
static

◆ mnScaleLevels

int ORB_SLAM2::Frame::mnScaleLevels

◆ mpORBextractorLeft

ORBextractor* ORB_SLAM2::Frame::mpORBextractorLeft

◆ mpORBextractorRight

ORBextractor * ORB_SLAM2::Frame::mpORBextractorRight

◆ mpORBvocabulary

ORBVocabulary* ORB_SLAM2::Frame::mpORBvocabulary

◆ mpReferenceKF

KeyFrame* ORB_SLAM2::Frame::mpReferenceKF

◆ mTcw

cv::Mat ORB_SLAM2::Frame::mTcw

◆ mThDepth

float ORB_SLAM2::Frame::mThDepth

◆ mTimeStamp

double ORB_SLAM2::Frame::mTimeStamp

◆ mvbOutlier

std::vector<bool> ORB_SLAM2::Frame::mvbOutlier

◆ mvDepth

std::vector<float> ORB_SLAM2::Frame::mvDepth

◆ mvInvLevelSigma2

vector<float> ORB_SLAM2::Frame::mvInvLevelSigma2

◆ mvInvScaleFactors

vector<float> ORB_SLAM2::Frame::mvInvScaleFactors

◆ mvKeys

std::vector<cv::KeyPoint> ORB_SLAM2::Frame::mvKeys

◆ mvKeysRight

std::vector<cv::KeyPoint> ORB_SLAM2::Frame::mvKeysRight

◆ mvKeysUn

std::vector<cv::KeyPoint> ORB_SLAM2::Frame::mvKeysUn

◆ mvLevelSigma2

vector<float> ORB_SLAM2::Frame::mvLevelSigma2

◆ mvpMapPoints

std::vector<MapPoint*> ORB_SLAM2::Frame::mvpMapPoints

◆ mvScaleFactors

vector<float> ORB_SLAM2::Frame::mvScaleFactors

◆ mvuRight

std::vector<float> ORB_SLAM2::Frame::mvuRight

◆ N

int ORB_SLAM2::Frame::N

◆ nNextId

long unsigned int ORB_SLAM2::Frame::nNextId
static

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