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_t >	GetFeaturesInArea (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_t >	mGrid [64][48]
cv::Mat	mK
long unsigned int	mnId
int	mnScaleLevels
ORBextractor *	mpORBextractorLeft
ORBextractor *	mpORBextractorRight
ORBVocabulary *	mpORBvocabulary
KeyFrame *	mpReferenceKF
cv::Mat	mTcw
float	mThDepth
double	mTimeStamp
std::vector< bool >	mvbOutlier
std::vector< float >	mvDepth
vector< float >	mvInvLevelSigma2
vector< float >	mvInvScaleFactors
std::vector< cv::KeyPoint >	mvKeys
std::vector< cv::KeyPoint >	mvKeysRight
std::vector< cv::KeyPoint >	mvKeysUn
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

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

• orbslam2/include/Frame.h