Declarations for calculations and management relating to keyframes (for loop closure). More...

#include "general_resources.hpp"
#include "opencv_resources.hpp"
#include "features.hpp"

Include dependency graph for keyframes.hpp:

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Classes
struct	connection
	Describes a link between two keyframes in terms of matched features. More...
struct	keyframe
	Contains feature information corresponding to a keyframe which may eventually be used for loop closure. More...
struct	keyframeStore
	Stores information linking keyframes within a SLAM sequence. More...
Defines
#define	KF_CONNECTION_GEOMETRIC 1
#define	KF_CONNECTION_HOMOGRAPHIC 2
#define	KF_CONNECTION_WEAK 0
#define	KF_TYPE_EXHAUSTED 4
#define	KF_TYPE_FIRST 0
#define	KF_TYPE_GEOMETRIC 2
#define	KF_TYPE_HOMOGRAPHIC 3
#define	KF_TYPE_LAST 1
#define	KF_TYPE_WEAK 5
#define	MATCHING_DIST_CONSTRAINT 100
#define	MATCHING_SIZE_CONSTRAINT 0.2
#define	MAXIMUM_FEATURES_PER_FRAME 200
Functions
bool	getValidLocalMaxima (cv::Mat &scores, unsigned int last_iii, unsigned int last_jjj, unsigned int &opt_iii, unsigned int &opt_jjj)