#include <keyframes.hpp>

Public Member Functions
void	draw (bool draw_frames=true, bool draw_seeds=false, bool draw_covariances=false)
	KeyFrame ()
	KeyFrame (const int id, const Sophus::SE3f &T_frame_rel_map, const AxisColourScheme &axis_colour_scheme=AxisColourRGB, const float &axis_scale_factor=1.0)
	KeyFrame (const int id, const Sophus::SE3f &T, const bool &pinned, const std::vector< Eigen::Vector3f > &seeds, const std::vector< float > &seed_variances, const std::vector< unsigned char > &seed_intensities, const float &focal_length_times_baseline)
	KeyFrame (const int id, const Sophus::SE3f &T, const bool &pinned, const std::vector< float > &nics, const std::vector< float > &idepths, const std::vector< float > &seed_variances, const std::vector< unsigned char > &seed_intensities_and_grad, const float &focal_length_times_baseline)
	KeyFrame (const Sophus::SE3f &T, const std::vector< float > &nics, const std::vector< float > &idepths, const std::vector< float > &seed_variances, const std::vector< unsigned char > &seed_intensities_and_grad)
void	setName (const std::string &name)
	~KeyFrame ()
Public Attributes
AxisColourScheme	axis_colour_scheme
float	axis_scale_factor
int	id
	Id number of this frame.
std::vector< unsigned char >	intensities
	Flag denoting if it was new/updated recently.
bool	pinned
	If the keyframe is pinned, we draw it differently.
Sophus::SE3f	T_frame_rel_map
	6D information
bool	updated
std::vector< float >	variance_lines
std::vector< float >	vertices
Static Public Attributes
static const float	default_keyframe_size = 0.3
Private Member Functions
void	_glGenLists ()
Private Attributes
int	gl_id_start
	Opengl id starting point for the lists.
std::string	name

Detailed Description

Data for each depth frame. This essentially packages the statistics gathered DepthFrame with a structure that can be neatly packaged off to the gui thread for consumption.

It does some pre-computation before sending, and gllists computation after arriving. Also, once it is sent off to the gui receiver to be invoked the gui thread, local control over the object is surrendered to the gui thread.

It is also possible to generate keyframes from point clouds. Refer to the qglv_pcl package for api.

Definition at line 42 of file keyframes.hpp.

Constructor & Destructor Documentation

qglv::KeyFrame::KeyFrame ( ) [inline]

Definition at line 45 of file keyframes.hpp.

qglv::KeyFrame::KeyFrame	(	const int	id,
		const Sophus::SE3f &	T_frame_rel_map,
		const AxisColourScheme &	axis_colour_scheme = `AxisColourRGB`,
		const float &	axis_scale_factor = `1.0`
	)

Generate without any cloud information;

Definition at line 29 of file keyframes.cpp.

qglv::KeyFrame::KeyFrame	(	const int	id,
		const Sophus::SE3f &	T,
		const bool &	pinned,
		const std::vector< Eigen::Vector3f > &	seeds,
		const std::vector< float > &	seed_variances,
		const std::vector< unsigned char > &	seed_intensities,
		const float &	focal_length_times_baseline
	)

Generate from simple dslam pc keyframe data.

Definition at line 182 of file keyframes.cpp.

qglv::KeyFrame::KeyFrame	(	const int	id,
		const Sophus::SE3f &	T,
		const bool &	pinned,
		const std::vector< float > &	nics,
		const std::vector< float > &	idepths,
		const std::vector< float > &	seed_variances,
		const std::vector< unsigned char > &	seed_intensities_and_grad,
		const float &	focal_length_times_baseline
	)

Generate from simple dslam pc keyframe data.

Definition at line 109 of file keyframes.cpp.

qglv::KeyFrame::KeyFrame	(	const Sophus::SE3f &	T,
		const std::vector< float > &	nics,
		const std::vector< float > &	idepths,
		const std::vector< float > &	seed_variances,
		const std::vector< unsigned char > &	seed_intensities_and_grad
	)