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

#include "Tracking.h"

Public Types

enum  eTrackingState {
  SYSTEM_NOT_READY =-1,
  NO_IMAGES_YET =0,
  NOT_INITIALIZED =1,
  OK =2,
  LOST =3
}
 

Public Member Functions

 Tracking (System *pSys, ORBVocabulary *pVoc, FrameDrawer *pFrameDrawer, MapDrawer *pMapDrawer, Map *pMap, KeyFrameDatabase *pKFDB, const string &strSettingPath, const int sensor)
 
void ChangeCalibration (const string &strSettingPath)
 
cv::Mat GrabImageMonocular (const cv::Mat &im, const double &timestamp)
 
cv::Mat GrabImageRGBD (const cv::Mat &imRGB, const cv::Mat &imD, const double &timestamp)
 
cv::Mat GrabImageStereo (const cv::Mat &imRectLeft, const cv::Mat &imRectRight, const double &timestamp)
 
void InformOnlyTracking (const bool &flag)
 
void Reset ()
 
void SetLocalMapper (LocalMapping *pLocalMapper)
 
void SetLoopClosing (LoopClosing *pLoopClosing)
 
void SetViewer (Viewer *pViewer)
 

Public Attributes

bool mbOnlyTracking
 
Frame mCurrentFrame
 
cv::Mat mImGray
 
Frame mInitialFrame
 
eTrackingState mLastProcessedState
 
list< bool > mlbLost
 
list< double > mlFrameTimes
 
list< KeyFrame * > mlpReferences
 
list< cv::Mat > mlRelativeFramePoses
 
int mSensor
 
eTrackingState mState
 
std::vector< cv::Point2f > mvbPrevMatched
 
std::vector< int > mvIniLastMatches
 
std::vector< int > mvIniMatches
 
std::vector< cv::Point3f > mvIniP3D
 

Protected Member Functions

void CheckReplacedInLastFrame ()
 
void CreateInitialMapMonocular ()
 
void CreateNewKeyFrame ()
 
void MonocularInitialization ()
 
bool NeedNewKeyFrame ()
 
bool Relocalization ()
 
void SearchLocalPoints ()
 
void StereoInitialization ()
 
void Track ()
 
bool TrackLocalMap ()
 
bool TrackReferenceKeyFrame ()
 
bool TrackWithMotionModel ()
 
void UpdateLastFrame ()
 
void UpdateLocalKeyFrames ()
 
void UpdateLocalMap ()
 
void UpdateLocalPoints ()
 

Protected Attributes

float mbf
 
bool mbRGB
 
bool mbVO
 
float mDepthMapFactor
 
cv::Mat mDistCoef
 
cv::Mat mK
 
Frame mLastFrame
 
list< MapPoint * > mlpTemporalPoints
 
int mMaxFrames
 
int mMinFrames
 
unsigned int mnLastKeyFrameId
 
unsigned int mnLastRelocFrameId
 
int mnMatchesInliers
 
FrameDrawer * mpFrameDrawer
 
ORBextractor * mpIniORBextractor
 
Initializer * mpInitializer
 
KeyFrameDatabase * mpKeyFrameDB
 
KeyFrame * mpLastKeyFrame
 
LocalMapping * mpLocalMapper
 
LoopClosing * mpLoopClosing
 
Map * mpMap
 
MapDrawer * mpMapDrawer
 
ORBextractor * mpORBextractorLeft
 
ORBextractor * mpORBextractorRight
 
ORBVocabulary * mpORBVocabulary
 
KeyFrame * mpReferenceKF
 
System * mpSystem
 
Viewer * mpViewer
 
float mThDepth
 
cv::Mat mVelocity
 
std::vector< KeyFrame * > mvpLocalKeyFrames
 
std::vector< MapPoint * > mvpLocalMapPoints
 

Member Enumeration Documentation

◆ eTrackingState

enum ORB_SLAM2::Tracking::eTrackingState
Enumerator
SYSTEM_NOT_READY 
NO_IMAGES_YET 
NOT_INITIALIZED 
OK 
LOST 

Constructor & Destructor Documentation

◆ Tracking()

ORB_SLAM2::Tracking::Tracking ( System *  pSys,
ORBVocabulary *  pVoc,
FrameDrawer *  pFrameDrawer,
MapDrawer *  pMapDrawer,
Map *  pMap,
KeyFrameDatabase *  pKFDB,
const string &  strSettingPath,
const int  sensor 
)

Member Function Documentation

◆ ChangeCalibration()

void ORB_SLAM2::Tracking::ChangeCalibration ( const string &  strSettingPath)

◆ CheckReplacedInLastFrame()

void ORB_SLAM2::Tracking::CheckReplacedInLastFrame ( )
protected

◆ CreateInitialMapMonocular()

void ORB_SLAM2::Tracking::CreateInitialMapMonocular ( )
protected

◆ CreateNewKeyFrame()

void ORB_SLAM2::Tracking::CreateNewKeyFrame ( )
protected

◆ GrabImageMonocular()

cv::Mat ORB_SLAM2::Tracking::GrabImageMonocular ( const cv::Mat &  im,
const double &  timestamp 
)

◆ GrabImageRGBD()

cv::Mat ORB_SLAM2::Tracking::GrabImageRGBD ( const cv::Mat &  imRGB,
const cv::Mat &  imD,
const double &  timestamp 
)

◆ GrabImageStereo()

cv::Mat ORB_SLAM2::Tracking::GrabImageStereo ( const cv::Mat &  imRectLeft,
const cv::Mat &  imRectRight,
const double &  timestamp 
)

◆ InformOnlyTracking()

void ORB_SLAM2::Tracking::InformOnlyTracking ( const bool &  flag)

◆ MonocularInitialization()

void ORB_SLAM2::Tracking::MonocularInitialization ( )
protected

◆ NeedNewKeyFrame()

bool ORB_SLAM2::Tracking::NeedNewKeyFrame ( )
protected

◆ Relocalization()

bool ORB_SLAM2::Tracking::Relocalization ( )
protected

◆ Reset()

void ORB_SLAM2::Tracking::Reset ( )

◆ SearchLocalPoints()

void ORB_SLAM2::Tracking::SearchLocalPoints ( )
protected

◆ SetLocalMapper()

void ORB_SLAM2::Tracking::SetLocalMapper ( LocalMapping *  pLocalMapper)

◆ SetLoopClosing()

void ORB_SLAM2::Tracking::SetLoopClosing ( LoopClosing *  pLoopClosing)

◆ SetViewer()

void ORB_SLAM2::Tracking::SetViewer ( Viewer *  pViewer)

◆ StereoInitialization()

void ORB_SLAM2::Tracking::StereoInitialization ( )
protected

◆ Track()

void ORB_SLAM2::Tracking::Track ( )
protected

◆ TrackLocalMap()

bool ORB_SLAM2::Tracking::TrackLocalMap ( )
protected

◆ TrackReferenceKeyFrame()

bool ORB_SLAM2::Tracking::TrackReferenceKeyFrame ( )
protected

◆ TrackWithMotionModel()

bool ORB_SLAM2::Tracking::TrackWithMotionModel ( )
protected

◆ UpdateLastFrame()

void ORB_SLAM2::Tracking::UpdateLastFrame ( )
protected

◆ UpdateLocalKeyFrames()

void ORB_SLAM2::Tracking::UpdateLocalKeyFrames ( )
protected

◆ UpdateLocalMap()

void ORB_SLAM2::Tracking::UpdateLocalMap ( )
protected

◆ UpdateLocalPoints()

void ORB_SLAM2::Tracking::UpdateLocalPoints ( )
protected

Member Data Documentation

◆ mbf

float ORB_SLAM2::Tracking::mbf
protected

◆ mbOnlyTracking

bool ORB_SLAM2::Tracking::mbOnlyTracking

◆ mbRGB

bool ORB_SLAM2::Tracking::mbRGB
protected

◆ mbVO

bool ORB_SLAM2::Tracking::mbVO
protected

◆ mCurrentFrame

Frame ORB_SLAM2::Tracking::mCurrentFrame

◆ mDepthMapFactor

float ORB_SLAM2::Tracking::mDepthMapFactor
protected

◆ mDistCoef

cv::Mat ORB_SLAM2::Tracking::mDistCoef
protected

◆ mImGray

cv::Mat ORB_SLAM2::Tracking::mImGray

◆ mInitialFrame

Frame ORB_SLAM2::Tracking::mInitialFrame

◆ mK

cv::Mat ORB_SLAM2::Tracking::mK
protected

◆ mLastFrame

Frame ORB_SLAM2::Tracking::mLastFrame
protected

◆ mLastProcessedState

eTrackingState ORB_SLAM2::Tracking::mLastProcessedState

◆ mlbLost

list<bool> ORB_SLAM2::Tracking::mlbLost

◆ mlFrameTimes

list<double> ORB_SLAM2::Tracking::mlFrameTimes

◆ mlpReferences

list<KeyFrame*> ORB_SLAM2::Tracking::mlpReferences

◆ mlpTemporalPoints

list<MapPoint*> ORB_SLAM2::Tracking::mlpTemporalPoints
protected

◆ mlRelativeFramePoses

list<cv::Mat> ORB_SLAM2::Tracking::mlRelativeFramePoses

◆ mMaxFrames

int ORB_SLAM2::Tracking::mMaxFrames
protected

◆ mMinFrames

int ORB_SLAM2::Tracking::mMinFrames
protected

◆ mnLastKeyFrameId

unsigned int ORB_SLAM2::Tracking::mnLastKeyFrameId
protected

◆ mnLastRelocFrameId

unsigned int ORB_SLAM2::Tracking::mnLastRelocFrameId
protected

◆ mnMatchesInliers

int ORB_SLAM2::Tracking::mnMatchesInliers
protected

◆ mpFrameDrawer

FrameDrawer* ORB_SLAM2::Tracking::mpFrameDrawer
protected

◆ mpIniORBextractor

ORBextractor* ORB_SLAM2::Tracking::mpIniORBextractor
protected

◆ mpInitializer

Initializer* ORB_SLAM2::Tracking::mpInitializer
protected

◆ mpKeyFrameDB

KeyFrameDatabase* ORB_SLAM2::Tracking::mpKeyFrameDB
protected

◆ mpLastKeyFrame

KeyFrame* ORB_SLAM2::Tracking::mpLastKeyFrame
protected

◆ mpLocalMapper

LocalMapping* ORB_SLAM2::Tracking::mpLocalMapper
protected

◆ mpLoopClosing

LoopClosing* ORB_SLAM2::Tracking::mpLoopClosing
protected

◆ mpMap

Map* ORB_SLAM2::Tracking::mpMap
protected

◆ mpMapDrawer

MapDrawer* ORB_SLAM2::Tracking::mpMapDrawer
protected

◆ mpORBextractorLeft

ORBextractor* ORB_SLAM2::Tracking::mpORBextractorLeft
protected

◆ mpORBextractorRight

ORBextractor * ORB_SLAM2::Tracking::mpORBextractorRight
protected

◆ mpORBVocabulary

ORBVocabulary* ORB_SLAM2::Tracking::mpORBVocabulary
protected

◆ mpReferenceKF

KeyFrame* ORB_SLAM2::Tracking::mpReferenceKF
protected

◆ mpSystem

System* ORB_SLAM2::Tracking::mpSystem
protected

◆ mpViewer

Viewer* ORB_SLAM2::Tracking::mpViewer
protected

◆ mSensor

int ORB_SLAM2::Tracking::mSensor

◆ mState

eTrackingState ORB_SLAM2::Tracking::mState

◆ mThDepth

float ORB_SLAM2::Tracking::mThDepth
protected

◆ mvbPrevMatched

std::vector<cv::Point2f> ORB_SLAM2::Tracking::mvbPrevMatched

◆ mVelocity

cv::Mat ORB_SLAM2::Tracking::mVelocity
protected

◆ mvIniLastMatches

std::vector<int> ORB_SLAM2::Tracking::mvIniLastMatches

◆ mvIniMatches

std::vector<int> ORB_SLAM2::Tracking::mvIniMatches

◆ mvIniP3D

std::vector<cv::Point3f> ORB_SLAM2::Tracking::mvIniP3D

◆ mvpLocalKeyFrames

std::vector<KeyFrame*> ORB_SLAM2::Tracking::mvpLocalKeyFrames
protected

◆ mvpLocalMapPoints

std::vector<MapPoint*> ORB_SLAM2::Tracking::mvpLocalMapPoints
protected
The documentation for this class was generated from the following file:
Generated on Thu Sep 28 2017 10:11:21 for OpenCV by   doxygen 1.8.13