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

#include "System.h"

Public Types

enum  eSensor {
  MONOCULAR =0,
  STEREO =1,
  RGBD =2
}
 

Public Member Functions

 System (const string &strVocFile, const string &strSettingsFile, const eSensor sensor, const bool bUseViewer=false)
 
void ActivateLocalizationMode ()
 
void DeactivateLocalizationMode ()
 
std::vector< cv::KeyPointGetTrackedKeyPointsUn ()
 
std::vector< MapPoint * > GetTrackedMapPoints ()
 
int GetTrackingState ()
 
bool MapChanged ()
 
void Reset ()
 
void SaveKeyFrameTrajectoryTUM (const string &filename)
 
void SaveTrajectoryKITTI (const string &filename)
 
void SaveTrajectoryTUM (const string &filename)
 
void Shutdown ()
 
cv::Mat TrackMonocular (const cv::Mat &im, const double &timestamp)
 
cv::Mat TrackRGBD (const cv::Mat &im, const cv::Mat &depthmap, const double &timestamp)
 
cv::Mat TrackStereo (const cv::Mat &imLeft, const cv::Mat &imRight, const double &timestamp)
 

Member Enumeration Documentation

◆ eSensor

Enumerator
MONOCULAR 
STEREO 
RGBD 

Constructor & Destructor Documentation

◆ System()

ORB_SLAM2::System::System ( const string &  strVocFile,
const string &  strSettingsFile,
const eSensor  sensor,
const bool  bUseViewer = false 
)

Member Function Documentation

◆ ActivateLocalizationMode()

void ORB_SLAM2::System::ActivateLocalizationMode ( )

◆ DeactivateLocalizationMode()

void ORB_SLAM2::System::DeactivateLocalizationMode ( )

◆ GetTrackedKeyPointsUn()

std::vector<cv::KeyPoint> ORB_SLAM2::System::GetTrackedKeyPointsUn ( )

◆ GetTrackedMapPoints()

std::vector<MapPoint*> ORB_SLAM2::System::GetTrackedMapPoints ( )

◆ GetTrackingState()

int ORB_SLAM2::System::GetTrackingState ( )

◆ MapChanged()

bool ORB_SLAM2::System::MapChanged ( )

◆ Reset()

void ORB_SLAM2::System::Reset ( )

◆ SaveKeyFrameTrajectoryTUM()

void ORB_SLAM2::System::SaveKeyFrameTrajectoryTUM ( const string &  filename)

◆ SaveTrajectoryKITTI()

void ORB_SLAM2::System::SaveTrajectoryKITTI ( const string &  filename)

◆ SaveTrajectoryTUM()

void ORB_SLAM2::System::SaveTrajectoryTUM ( const string &  filename)

◆ Shutdown()

void ORB_SLAM2::System::Shutdown ( )

◆ TrackMonocular()

cv::Mat ORB_SLAM2::System::TrackMonocular ( const cv::Mat im,
const double &  timestamp 
)

◆ TrackRGBD()

cv::Mat ORB_SLAM2::System::TrackRGBD ( const cv::Mat im,
const cv::Mat depthmap,
const double &  timestamp 
)

◆ TrackStereo()

cv::Mat ORB_SLAM2::System::TrackStereo ( const cv::Mat imLeft,
const cv::Mat imRight,
const double &  timestamp 
)

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