Stores data specific to an input frame. More...
#include <frame.hpp>
Public Member Functions | |
int | getFeatureWindowSize () const |
const PyramidLevel * | getLevel (int i) const |
PyramidLevel * | getLevel (int i) |
int | getNumDetectedKeypoints () const |
int | getNumKeypoints () const |
int | getNumLevels () const |
OdometryFrame (const Rectification *rectification, const VisualOdometryOptions &options) | |
void | prepareFrame (const uint8_t *raw_gray, int fast_threshold, DepthSource *depth_source) |
void | sanityCheck () const |
~OdometryFrame () | |
Private Member Functions | |
void | purgeBadKeypoints () |
Private Attributes | |
int | _feature_window_size |
std::vector< PyramidLevel * > | _levels |
int | _num_levels |
int | _orig_height |
int | _orig_width |
const Rectification * | _rectification |
bool | _use_bucketing |
bool | _use_image_normalization |
Stores data specific to an input frame.
Stores grayscaled image, disparity map, keypoints (detected features), and keypoint descriptors.
fovis::OdometryFrame::OdometryFrame | ( | const Rectification * | rectification, |
const VisualOdometryOptions & | options | ||
) |
int fovis::OdometryFrame::getFeatureWindowSize | ( | ) | const [inline] |
const PyramidLevel* fovis::OdometryFrame::getLevel | ( | int | i | ) | const [inline] |
PyramidLevel* fovis::OdometryFrame::getLevel | ( | int | i | ) | [inline] |
int fovis::OdometryFrame::getNumDetectedKeypoints | ( | ) | const [inline] |
int fovis::OdometryFrame::getNumKeypoints | ( | ) | const [inline] |
int fovis::OdometryFrame::getNumLevels | ( | ) | const [inline] |
void fovis::OdometryFrame::prepareFrame | ( | const uint8_t * | raw_gray, |
int | fast_threshold, | ||
DepthSource * | depth_source | ||
) |
void fovis::OdometryFrame::purgeBadKeypoints | ( | ) | [private] |
void fovis::OdometryFrame::sanityCheck | ( | ) | const |
int fovis::OdometryFrame::_feature_window_size [private] |
std::vector<PyramidLevel*> fovis::OdometryFrame::_levels [private] |
int fovis::OdometryFrame::_num_levels [private] |
int fovis::OdometryFrame::_orig_height [private] |
int fovis::OdometryFrame::_orig_width [private] |
const Rectification* fovis::OdometryFrame::_rectification [private] |
bool fovis::OdometryFrame::_use_bucketing [private] |
bool fovis::OdometryFrame::_use_image_normalization [private] |