Stores information linking keyframes within a SLAM sequence. More...

Public Member Functions
void	addConnection (int idx1, int idx2, int type=KF_CONNECTION_WEAK, cv::Mat rel=cv::Mat())
	Adds a connection between keyframes to the store.
void	addKeyframe (int idx, cv::Mat &image)
	Adds a keyframe to the store.
void	findMatches ()
	Finds all matches between weak keyframes.
void	findStrongConnections (int idx, vector< unsigned int > &cIndices)
	Returns indices of connections that are strongly linked to this keyframe.
bool	getBestPair (int &idx1, int &idx2)
	Finds the best pair of keyframes to initialize structure with.
	keyframeStore ()
Public Attributes
vector< connection >	connections
unsigned int	count
vector< keyframe >	keyframes

Detailed Description

Stores information linking keyframes within a SLAM sequence.

Definition at line 61 of file keyframes.hpp.

Constructor & Destructor Documentation

keyframeStore::keyframeStore ( )

Definition at line 216 of file keyframes.cpp.

void keyframeStore::addConnection	(	int	idx1,
		int	idx2,
		int	type = `KF_CONNECTION_WEAK`,
		cv::Mat	rel = `cv::Mat()`
	)

Adds a connection between keyframes to the store.

Definition at line 244 of file keyframes.cpp.

void keyframeStore::addKeyframe	(	int	idx,
		cv::Mat &	image
	)

Adds a keyframe to the store.

Definition at line 226 of file keyframes.cpp.

void keyframeStore::findMatches ( )

Finds all matches between weak keyframes.

Definition at line 257 of file keyframes.cpp.

void keyframeStore::findStrongConnections	(	int	idx,
		vector< unsigned int > &	cIndices
	)

Returns indices of connections that are strongly linked to this keyframe.

Definition at line 106 of file keyframes.cpp.

bool keyframeStore::getBestPair	(	int &	idx1,
		int &	idx2
	)

Finds the best pair of keyframes to initialize structure with.

Definition at line 220 of file keyframes.cpp.

Definition at line 64 of file keyframes.hpp.

Definition at line 65 of file keyframes.hpp.

Definition at line 63 of file keyframes.hpp.

The documentation for this struct was generated from the following files: