25 #include<opencv2/core/core.hpp> 26 #include<opencv2/features2d/features2d.hpp> 27 #include<opencv2/imgproc/types_c.h> 30 #include <sensor_msgs/CameraInfo.h> 73 cv::Mat GrabImageStereo(
const cv::Mat &imRectLeft,
const cv::Mat &imRectRight,
const double ×tamp);
74 cv::Mat GrabImageRGBD(
const cv::Mat &imRGB,
const cv::Mat &imD,
const double ×tamp);
75 cv::Mat GrabImageMonocular(
const cv::Mat &im,
const double ×tamp);
84 void ChangeCalibration(
const string &strSettingPath);
87 void InformOnlyTracking(
const bool &flag);
136 void StereoInitialization();
139 void MonocularInitialization();
140 void CreateInitialMapMonocular();
142 void CheckReplacedInLastFrame();
143 bool TrackReferenceKeyFrame();
144 void UpdateLastFrame();
145 bool TrackWithMotionModel();
147 bool Relocalization();
149 void UpdateLocalMap();
150 void UpdateLocalPoints();
151 void UpdateLocalKeyFrames();
153 bool TrackLocalMap();
154 void SearchLocalPoints();
156 bool NeedNewKeyFrame();
157 void CreateNewKeyFrame();
std::vector< MapPoint * > mvpLocalMapPoints
std::vector< KeyFrame * > mvpLocalKeyFrames
unsigned int mnLastKeyFrameId
unsigned int mnLastRelocFrameId
KeyFrame * mpLastKeyFrame
std::vector< int > mvIniMatches
Initializer * mpInitializer
FrameDrawer * mpFrameDrawer
ORBVocabulary * mpORBVocabulary
KeyFrameDatabase * mpKeyFrameDB
LoopClosing * mpLoopClosing
list< double > mlFrameTimes
void SetMinimumKeyFrames(int min_num_kf)
ORBextractor * mpIniORBextractor
list< KeyFrame * > mlpReferences
eTrackingState mLastProcessedState
std::vector< int > mvIniLastMatches
list< MapPoint * > mlpTemporalPoints
list< cv::Mat > mlRelativeFramePoses
LocalMapping * mpLocalMapper
std::vector< cv::Point3f > mvIniP3D
std::vector< cv::Point2f > mvbPrevMatched
ORBextractor * mpORBextractorRight