ORB_SLAM2::KeyFrame Class Reference

#include "KeyFrame.h"

Public Member Functions
	KeyFrame (Frame &F, Map *pMap, KeyFrameDatabase *pKFDB)
void	AddChild (KeyFrame *pKF)
void	AddConnection (KeyFrame *pKF, const int &weight)
void	AddLoopEdge (KeyFrame *pKF)
void	AddMapPoint (MapPoint *pMP, const size_t &idx)
void	ChangeParent (KeyFrame *pKF)
void	ComputeBoW ()
float	ComputeSceneMedianDepth (const int q)
void	EraseChild (KeyFrame *pKF)
void	EraseConnection (KeyFrame *pKF)
void	EraseMapPointMatch (const size_t &idx)
void	EraseMapPointMatch (MapPoint *pMP)
std::vector< KeyFrame * >	GetBestCovisibilityKeyFrames (const int &N)
cv::Mat	GetCameraCenter ()
std::set< KeyFrame * >	GetChilds ()
std::set< KeyFrame * >	GetConnectedKeyFrames ()
std::vector< KeyFrame * >	GetCovisiblesByWeight (const int &w)
std::vector< size_t >	GetFeaturesInArea (const float &x, const float &y, const float &r) const
std::set< KeyFrame * >	GetLoopEdges ()
MapPoint *	GetMapPoint (const size_t &idx)
std::vector< MapPoint * >	GetMapPointMatches ()
std::set< MapPoint * >	GetMapPoints ()
KeyFrame *	GetParent ()
cv::Mat	GetPose ()
cv::Mat	GetPoseInverse ()
cv::Mat	GetRotation ()
cv::Mat	GetStereoCenter ()
cv::Mat	GetTranslation ()
std::vector< KeyFrame *>	GetVectorCovisibleKeyFrames ()
int	GetWeight (KeyFrame *pKF)
bool	hasChild (KeyFrame *pKF)
bool	isBad ()
bool	IsInImage (const float &x, const float &y) const
void	ReplaceMapPointMatch (const size_t &idx, MapPoint *pMP)
void	SetBadFlag ()
void	SetErase ()
void	SetNotErase ()
void	SetPose (const cv::Mat &Tcw)
int	TrackedMapPoints (const int &minObs)
cv::Mat	UnprojectStereo (int i)
void	UpdateBestCovisibles ()
void	UpdateConnections ()

Static Public Member Functions
static bool	lId (KeyFrame *pKF1, KeyFrame *pKF2)
static bool	weightComp (int a, int b)

Public Attributes
const float	cx
const float	cy
const float	fx
const float	fy
const float	invfx
const float	invfy
const float	mb
const float	mbf
DBoW2::BowVector	mBowVec
const cv::Mat	mDescriptors
DBoW2::FeatureVector	mFeatVec
const float	mfGridElementHeightInv
const float	mfGridElementWidthInv
const float	mfLogScaleFactor
const float	mfScaleFactor
const cv::Mat	mK
float	mLoopScore
long unsigned int	mnBAFixedForKF
long unsigned int	mnBAGlobalForKF
long unsigned int	mnBALocalForKF
const long unsigned int	mnFrameId
long unsigned int	mnFuseTargetForKF
const int	mnGridCols
const int	mnGridRows
long unsigned int	mnId
long unsigned int	mnLoopQuery
int	mnLoopWords
const int	mnMaxX
const int	mnMaxY
const int	mnMinX
const int	mnMinY
long unsigned int	mnRelocQuery
int	mnRelocWords
const int	mnScaleLevels
long unsigned int	mnTrackReferenceForFrame
float	mRelocScore
cv::Mat	mTcp
cv::Mat	mTcwBefGBA
cv::Mat	mTcwGBA
const float	mThDepth
const double	mTimeStamp
const std::vector< float >	mvDepth
const std::vector< float >	mvInvLevelSigma2
const std::vector< cv::KeyPoint >	mvKeys
const std::vector< cv::KeyPoint >	mvKeysUn
const std::vector< float >	mvLevelSigma2
const std::vector< float >	mvScaleFactors
const std::vector< float >	mvuRight
const int	N

Static Public Attributes
static long unsigned int	nNextId

Protected Attributes
cv::Mat	Cw
bool	mbBad
bool	mbFirstConnection
bool	mbNotErase
bool	mbToBeErased
std::map< KeyFrame *, int >	mConnectedKeyFrameWeights
std::vector< std::vector< std::vector< size_t > > >	mGrid
float	mHalfBaseline
std::mutex	mMutexConnections
std::mutex	mMutexFeatures
std::mutex	mMutexPose
KeyFrameDatabase *	mpKeyFrameDB
Map *	mpMap
ORBVocabulary *	mpORBvocabulary
KeyFrame *	mpParent
std::set< KeyFrame * >	mspChildrens
std::set< KeyFrame * >	mspLoopEdges
std::vector< int >	mvOrderedWeights
std::vector< MapPoint * >	mvpMapPoints
std::vector< KeyFrame * >	mvpOrderedConnectedKeyFrames
cv::Mat	Ow
cv::Mat	Tcw
cv::Mat	Twc

Constructor & Destructor Documentation

KeyFrame()

ORB_SLAM2::KeyFrame::KeyFrame	(	Frame &	F,
		Map *	pMap,
		KeyFrameDatabase *	pKFDB
	)

Member Function Documentation

AddChild()

void ORB_SLAM2::KeyFrame::AddChild

(

KeyFrame *

pKF

)

AddConnection()

void ORB_SLAM2::KeyFrame::AddConnection	(	KeyFrame *	pKF,
		const int &	weight
	)

AddLoopEdge()

void ORB_SLAM2::KeyFrame::AddLoopEdge

(

KeyFrame *

pKF

)

AddMapPoint()

void ORB_SLAM2::KeyFrame::AddMapPoint	(	MapPoint *	pMP,
		const size_t &	idx
	)

ChangeParent()

void ORB_SLAM2::KeyFrame::ChangeParent

(

KeyFrame *

pKF

)

ComputeBoW()

void ORB_SLAM2::KeyFrame::ComputeBoW

(

)

ComputeSceneMedianDepth()

float ORB_SLAM2::KeyFrame::ComputeSceneMedianDepth

(

const int

q

)

EraseChild()

void ORB_SLAM2::KeyFrame::EraseChild

(

KeyFrame *

pKF

)

EraseConnection()

void ORB_SLAM2::KeyFrame::EraseConnection

(

KeyFrame *

pKF

)

EraseMapPointMatch() [1/2]

void ORB_SLAM2::KeyFrame::EraseMapPointMatch

(

const size_t &

idx

)

EraseMapPointMatch() [2/2]

void ORB_SLAM2::KeyFrame::EraseMapPointMatch

(

MapPoint *

pMP

)

GetBestCovisibilityKeyFrames()

std::vector<KeyFrame*> ORB_SLAM2::KeyFrame::GetBestCovisibilityKeyFrames

(

const int &

N

)

GetCameraCenter()

cv::Mat ORB_SLAM2::KeyFrame::GetCameraCenter

(

)

GetChilds()

std::set<KeyFrame*> ORB_SLAM2::KeyFrame::GetChilds

(

)

GetConnectedKeyFrames()

std::set<KeyFrame *> ORB_SLAM2::KeyFrame::GetConnectedKeyFrames

(

)

GetCovisiblesByWeight()

std::vector<KeyFrame*> ORB_SLAM2::KeyFrame::GetCovisiblesByWeight

(

const int &

w

)

GetFeaturesInArea()

std::vector<size_t> ORB_SLAM2::KeyFrame::GetFeaturesInArea	(	const float &	x,
		const float &	y,
		const float &	r
	)		const

GetLoopEdges()

std::set<KeyFrame*> ORB_SLAM2::KeyFrame::GetLoopEdges

(

)

GetMapPoint()

MapPoint* ORB_SLAM2::KeyFrame::GetMapPoint

(

const size_t &

idx

)

GetMapPointMatches()

std::vector<MapPoint*> ORB_SLAM2::KeyFrame::GetMapPointMatches

(

)

GetMapPoints()

std::set<MapPoint*> ORB_SLAM2::KeyFrame::GetMapPoints

(

)

GetParent()

KeyFrame* ORB_SLAM2::KeyFrame::GetParent

(

)

GetPose()

cv::Mat ORB_SLAM2::KeyFrame::GetPose

(

)

GetPoseInverse()

cv::Mat ORB_SLAM2::KeyFrame::GetPoseInverse

(

)

GetRotation()

cv::Mat ORB_SLAM2::KeyFrame::GetRotation

(

)

GetStereoCenter()

cv::Mat ORB_SLAM2::KeyFrame::GetStereoCenter

(

)

GetTranslation()

cv::Mat ORB_SLAM2::KeyFrame::GetTranslation

(

)

GetVectorCovisibleKeyFrames()

std::vector<KeyFrame* > ORB_SLAM2::KeyFrame::GetVectorCovisibleKeyFrames

(

)

GetWeight()

int ORB_SLAM2::KeyFrame::GetWeight

(

KeyFrame *

pKF

)

hasChild()

bool ORB_SLAM2::KeyFrame::hasChild

(

KeyFrame *

pKF

)

isBad()

bool ORB_SLAM2::KeyFrame::isBad

(

)

IsInImage()

bool ORB_SLAM2::KeyFrame::IsInImage	(	const float &	x,
		const float &	y
	)		const

lId()

static bool ORB_SLAM2::KeyFrame::lId ( KeyFrame *  pKF1, KeyFrame *  pKF2  )

inlinestatic

ReplaceMapPointMatch()

void ORB_SLAM2::KeyFrame::ReplaceMapPointMatch	(	const size_t &	idx,
		MapPoint *	pMP
	)

SetBadFlag()

void ORB_SLAM2::KeyFrame::SetBadFlag

(

)

SetErase()

void ORB_SLAM2::KeyFrame::SetErase

(

)

SetNotErase()

void ORB_SLAM2::KeyFrame::SetNotErase

(

)

SetPose()

void ORB_SLAM2::KeyFrame::SetPose

(

const cv::Mat &

Tcw

)

TrackedMapPoints()

int ORB_SLAM2::KeyFrame::TrackedMapPoints

(

const int &

minObs

)

UnprojectStereo()

cv::Mat ORB_SLAM2::KeyFrame::UnprojectStereo

(

int

i

)

UpdateBestCovisibles()

void ORB_SLAM2::KeyFrame::UpdateBestCovisibles

(

)

UpdateConnections()

void ORB_SLAM2::KeyFrame::UpdateConnections

(

)

weightComp()

static bool ORB_SLAM2::KeyFrame::weightComp ( int  a, int  b  )

inlinestatic

Member Data Documentation

Cw

cv::Mat ORB_SLAM2::KeyFrame::Cw

protected

cx

const float ORB_SLAM2::KeyFrame::cx

cy

const float ORB_SLAM2::KeyFrame::cy

fx

const float ORB_SLAM2::KeyFrame::fx

fy

const float ORB_SLAM2::KeyFrame::fy

invfx

const float ORB_SLAM2::KeyFrame::invfx

invfy

const float ORB_SLAM2::KeyFrame::invfy

mb

const float ORB_SLAM2::KeyFrame::mb

mbBad

bool ORB_SLAM2::KeyFrame::mbBad

protected

mbf

const float ORB_SLAM2::KeyFrame::mbf

mbFirstConnection

bool ORB_SLAM2::KeyFrame::mbFirstConnection

protected

mbNotErase

bool ORB_SLAM2::KeyFrame::mbNotErase

protected

mBowVec

DBoW2::BowVector ORB_SLAM2::KeyFrame::mBowVec

mbToBeErased

bool ORB_SLAM2::KeyFrame::mbToBeErased

protected

mConnectedKeyFrameWeights

std::map<KeyFrame*,int> ORB_SLAM2::KeyFrame::mConnectedKeyFrameWeights

protected

mDescriptors

const cv::Mat ORB_SLAM2::KeyFrame::mDescriptors

mFeatVec

DBoW2::FeatureVector ORB_SLAM2::KeyFrame::mFeatVec

mfGridElementHeightInv

const float ORB_SLAM2::KeyFrame::mfGridElementHeightInv

mfGridElementWidthInv

const float ORB_SLAM2::KeyFrame::mfGridElementWidthInv

mfLogScaleFactor

const float ORB_SLAM2::KeyFrame::mfLogScaleFactor

mfScaleFactor

const float ORB_SLAM2::KeyFrame::mfScaleFactor

mGrid

std::vector< std::vector <std::vector<size_t> > > ORB_SLAM2::KeyFrame::mGrid

protected

mHalfBaseline

float ORB_SLAM2::KeyFrame::mHalfBaseline

protected

mK

const cv::Mat ORB_SLAM2::KeyFrame::mK

mLoopScore

float ORB_SLAM2::KeyFrame::mLoopScore

mMutexConnections

std::mutex ORB_SLAM2::KeyFrame::mMutexConnections

protected

mMutexFeatures

std::mutex ORB_SLAM2::KeyFrame::mMutexFeatures

protected

mMutexPose

std::mutex ORB_SLAM2::KeyFrame::mMutexPose

protected

mnBAFixedForKF

long unsigned int ORB_SLAM2::KeyFrame::mnBAFixedForKF

mnBAGlobalForKF

long unsigned int ORB_SLAM2::KeyFrame::mnBAGlobalForKF

mnBALocalForKF

long unsigned int ORB_SLAM2::KeyFrame::mnBALocalForKF

mnFrameId

const long unsigned int ORB_SLAM2::KeyFrame::mnFrameId

mnFuseTargetForKF

long unsigned int ORB_SLAM2::KeyFrame::mnFuseTargetForKF

mnGridCols

const int ORB_SLAM2::KeyFrame::mnGridCols

mnGridRows

const int ORB_SLAM2::KeyFrame::mnGridRows

mnId

long unsigned int ORB_SLAM2::KeyFrame::mnId

mnLoopQuery

long unsigned int ORB_SLAM2::KeyFrame::mnLoopQuery

mnLoopWords

int ORB_SLAM2::KeyFrame::mnLoopWords

mnMaxX

const int ORB_SLAM2::KeyFrame::mnMaxX

mnMaxY

const int ORB_SLAM2::KeyFrame::mnMaxY

mnMinX

const int ORB_SLAM2::KeyFrame::mnMinX

mnMinY

const int ORB_SLAM2::KeyFrame::mnMinY

mnRelocQuery

long unsigned int ORB_SLAM2::KeyFrame::mnRelocQuery

mnRelocWords

int ORB_SLAM2::KeyFrame::mnRelocWords

mnScaleLevels

const int ORB_SLAM2::KeyFrame::mnScaleLevels

mnTrackReferenceForFrame

long unsigned int ORB_SLAM2::KeyFrame::mnTrackReferenceForFrame

mpKeyFrameDB

KeyFrameDatabase* ORB_SLAM2::KeyFrame::mpKeyFrameDB

protected

mpMap

Map* ORB_SLAM2::KeyFrame::mpMap

protected

mpORBvocabulary

ORBVocabulary* ORB_SLAM2::KeyFrame::mpORBvocabulary

protected

mpParent

KeyFrame* ORB_SLAM2::KeyFrame::mpParent

protected

mRelocScore

float ORB_SLAM2::KeyFrame::mRelocScore

mspChildrens

std::set<KeyFrame*> ORB_SLAM2::KeyFrame::mspChildrens

protected

mspLoopEdges

std::set<KeyFrame*> ORB_SLAM2::KeyFrame::mspLoopEdges

protected

mTcp

cv::Mat ORB_SLAM2::KeyFrame::mTcp

mTcwBefGBA

cv::Mat ORB_SLAM2::KeyFrame::mTcwBefGBA

mTcwGBA

cv::Mat ORB_SLAM2::KeyFrame::mTcwGBA

mThDepth

const float ORB_SLAM2::KeyFrame::mThDepth

mTimeStamp

const double ORB_SLAM2::KeyFrame::mTimeStamp

mvDepth

const std::vector<float> ORB_SLAM2::KeyFrame::mvDepth

mvInvLevelSigma2

const std::vector<float> ORB_SLAM2::KeyFrame::mvInvLevelSigma2

mvKeys

const std::vector<cv::KeyPoint> ORB_SLAM2::KeyFrame::mvKeys

mvKeysUn

const std::vector<cv::KeyPoint> ORB_SLAM2::KeyFrame::mvKeysUn

mvLevelSigma2

const std::vector<float> ORB_SLAM2::KeyFrame::mvLevelSigma2

mvOrderedWeights

std::vector<int> ORB_SLAM2::KeyFrame::mvOrderedWeights

protected

mvpMapPoints

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

protected

mvpOrderedConnectedKeyFrames

std::vector<KeyFrame*> ORB_SLAM2::KeyFrame::mvpOrderedConnectedKeyFrames

protected

mvScaleFactors

const std::vector<float> ORB_SLAM2::KeyFrame::mvScaleFactors

mvuRight

const std::vector<float> ORB_SLAM2::KeyFrame::mvuRight

N

const int ORB_SLAM2::KeyFrame::N

nNextId

long unsigned int ORB_SLAM2::KeyFrame::nNextId

static

Ow

cv::Mat ORB_SLAM2::KeyFrame::Ow

protected

Tcw

cv::Mat ORB_SLAM2::KeyFrame::Tcw

protected

Twc

cv::Mat ORB_SLAM2::KeyFrame::Twc

protected

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

• orbslam2/include/KeyFrame.h