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::KeyPoint >	GetTrackedKeyPointsUn ()
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

enum ORB_SLAM2::System::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
	)

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

• orbslam2/include/System.h