Public Member Functions | Public Attributes | Static Public Attributes | Private Member Functions | Private Attributes | List of all members
ORB_SLAM2::Frame Class Reference

#include <Frame.h>

Public Member Functions

void ComputeBoW ()
 
void ComputeStereoFromRGBD (const cv::Mat &imDepth)
 
void ComputeStereoMatches ()
 
void ExtractORB (int flag, const cv::Mat &im)
 
 Frame ()
 
 Frame (const Frame &frame)
 
 Frame (const cv::Mat &imLeft, const cv::Mat &imRight, const double &timeStamp, ORBextractor *extractorLeft, ORBextractor *extractorRight, ORBVocabulary *voc, cv::Mat &K, cv::Mat &distCoef, const float &bf, const float &thDepth)
 
 Frame (const cv::Mat &imGray, const cv::Mat &imDepth, const double &timeStamp, ORBextractor *extractor, ORBVocabulary *voc, cv::Mat &K, cv::Mat &distCoef, const float &bf, const float &thDepth)
 
 Frame (const cv::Mat &imGray, const double &timeStamp, ORBextractor *extractor, ORBVocabulary *voc, cv::Mat &K, cv::Mat &distCoef, const float &bf, const float &thDepth)
 
cv::Mat GetCameraCenter ()
 
vector< size_t > GetFeaturesInArea (const float &x, const float &y, const float &r, const int minLevel=-1, const int maxLevel=-1) const
 
cv::Mat GetRotationInverse ()
 
bool isInFrustum (MapPoint *pMP, float viewingCosLimit)
 
bool PosInGrid (const cv::KeyPoint &kp, int &posX, int &posY)
 
void SetPose (cv::Mat Tcw)
 
cv::Mat UnprojectStereo (const int &i)
 
void UpdatePoseMatrices ()
 

Public Attributes

float mb
 
float mbf
 
DBoW2::BowVector mBowVec
 
cv::Mat mDescriptors
 
cv::Mat mDescriptorsRight
 
cv::Mat mDistCoef
 
DBoW2::FeatureVector mFeatVec
 
float mfLogScaleFactor
 
float mfScaleFactor
 
std::vector< std::size_t > mGrid [FRAME_GRID_COLS][FRAME_GRID_ROWS]
 
cv::Mat mK
 
long unsigned int mnId
 
int mnScaleLevels
 
ORBextractor * mpORBextractorLeft
 
ORBextractor * mpORBextractorRight
 
ORBVocabulary * mpORBvocabulary
 
KeyFrame * mpReferenceKF
 
cv::Mat mTcw
 
float mThDepth
 
double mTimeStamp
 
std::vector< bool > mvbOutlier
 
std::vector< float > mvDepth
 
vector< float > mvInvLevelSigma2
 
vector< float > mvInvScaleFactors
 
std::vector< cv::KeyPoint > mvKeys
 
std::vector< cv::KeyPoint > mvKeysRight
 
std::vector< cv::KeyPoint > mvKeysUn
 
vector< float > mvLevelSigma2
 
std::vector< MapPoint * > mvpMapPoints
 
vector< float > mvScaleFactors
 
std::vector< float > mvuRight
 
int N
 

Static Public Attributes

static float cx
 
static float cy
 
static float fx
 
static float fy
 
static float invfx
 
static float invfy
 
static bool mbInitialComputations =true
 
static float mfGridElementHeightInv
 
static float mfGridElementWidthInv
 
static float mnMaxX
 
static float mnMaxY
 
static float mnMinX
 
static float mnMinY
 
static long unsigned int nNextId =0
 

Private Member Functions

void AssignFeaturesToGrid ()
 
void ComputeImageBounds (const cv::Mat &imLeft)
 
void UndistortKeyPoints ()
 

Private Attributes

cv::Mat mOw
 
cv::Mat mRcw
 
cv::Mat mRwc
 
cv::Mat mtcw
 

Detailed Description

Definition at line 43 of file Frame.h.

Constructor & Destructor Documentation

ORB_SLAM2::Frame::Frame ( )

Definition at line 35 of file Frame.cc.

ORB_SLAM2::Frame::Frame ( const Frame &  frame)

Definition at line 39 of file Frame.cc.

ORB_SLAM2::Frame::Frame ( const cv::Mat &  imLeft,
const cv::Mat &  imRight,
const double &  timeStamp,
ORBextractor *  extractorLeft,
ORBextractor *  extractorRight,
ORBVocabulary *  voc,
cv::Mat &  K,
cv::Mat &  distCoef,
const float &  bf,
const float &  thDepth 
)

Definition at line 61 of file Frame.cc.

ORB_SLAM2::Frame::Frame ( const cv::Mat &  imGray,
const cv::Mat &  imDepth,
const double &  timeStamp,
ORBextractor *  extractor,
ORBVocabulary *  voc,
cv::Mat &  K,
cv::Mat &  distCoef,
const float &  bf,
const float &  thDepth 
)

Definition at line 119 of file Frame.cc.

ORB_SLAM2::Frame::Frame ( const cv::Mat &  imGray,
const double &  timeStamp,
ORBextractor *  extractor,
ORBVocabulary *  voc,
cv::Mat &  K,
cv::Mat &  distCoef,
const float &  bf,
const float &  thDepth 
)

Definition at line 174 of file Frame.cc.

Member Function Documentation

void ORB_SLAM2::Frame::AssignFeaturesToGrid ( )
private

Definition at line 230 of file Frame.cc.

void ORB_SLAM2::Frame::ComputeBoW ( )

Definition at line 395 of file Frame.cc.

void ORB_SLAM2::Frame::ComputeImageBounds ( const cv::Mat &  imLeft)
private

Definition at line 436 of file Frame.cc.

void ORB_SLAM2::Frame::ComputeStereoFromRGBD ( const cv::Mat &  imDepth)

Definition at line 643 of file Frame.cc.

void ORB_SLAM2::Frame::ComputeStereoMatches ( )

Definition at line 466 of file Frame.cc.

void ORB_SLAM2::Frame::ExtractORB ( int  flag,
const cv::Mat &  im 
)

Definition at line 247 of file Frame.cc.

cv::Mat ORB_SLAM2::Frame::GetCameraCenter ( )
inline

Definition at line 73 of file Frame.h.

vector< size_t > ORB_SLAM2::Frame::GetFeaturesInArea ( const float &  x,
const float &  y,
const float &  r,
const int  minLevel = -1,
const int  maxLevel = -1 
) const

Definition at line 327 of file Frame.cc.

cv::Mat ORB_SLAM2::Frame::GetRotationInverse ( )
inline

Definition at line 78 of file Frame.h.

bool ORB_SLAM2::Frame::isInFrustum ( MapPoint *  pMP,
float  viewingCosLimit 
)

Definition at line 269 of file Frame.cc.

bool ORB_SLAM2::Frame::PosInGrid ( const cv::KeyPoint &  kp,
int &  posX,
int &  posY 
)

Definition at line 382 of file Frame.cc.

void ORB_SLAM2::Frame::SetPose ( cv::Mat  Tcw)

Definition at line 255 of file Frame.cc.

void ORB_SLAM2::Frame::UndistortKeyPoints ( )
private

Definition at line 404 of file Frame.cc.

cv::Mat ORB_SLAM2::Frame::UnprojectStereo ( const int &  i)

Definition at line 666 of file Frame.cc.

void ORB_SLAM2::Frame::UpdatePoseMatrices ( )

Definition at line 261 of file Frame.cc.

Member Data Documentation

float ORB_SLAM2::Frame::cx
static

Definition at line 115 of file Frame.h.

float ORB_SLAM2::Frame::cy
static

Definition at line 116 of file Frame.h.

float ORB_SLAM2::Frame::fx
static

Definition at line 113 of file Frame.h.

float ORB_SLAM2::Frame::fy
static

Definition at line 114 of file Frame.h.

float ORB_SLAM2::Frame::invfx
static

Definition at line 117 of file Frame.h.

float ORB_SLAM2::Frame::invfy
static

Definition at line 118 of file Frame.h.

float ORB_SLAM2::Frame::mb

Definition at line 125 of file Frame.h.

float ORB_SLAM2::Frame::mbf

Definition at line 122 of file Frame.h.

bool ORB_SLAM2::Frame::mbInitialComputations =true
static

Definition at line 188 of file Frame.h.

DBoW2::BowVector ORB_SLAM2::Frame::mBowVec

Definition at line 146 of file Frame.h.

cv::Mat ORB_SLAM2::Frame::mDescriptors

Definition at line 150 of file Frame.h.

cv::Mat ORB_SLAM2::Frame::mDescriptorsRight

Definition at line 150 of file Frame.h.

cv::Mat ORB_SLAM2::Frame::mDistCoef

Definition at line 119 of file Frame.h.

DBoW2::FeatureVector ORB_SLAM2::Frame::mFeatVec

Definition at line 147 of file Frame.h.

float ORB_SLAM2::Frame::mfGridElementHeightInv
static

Definition at line 160 of file Frame.h.

float ORB_SLAM2::Frame::mfGridElementWidthInv
static

Definition at line 159 of file Frame.h.

float ORB_SLAM2::Frame::mfLogScaleFactor

Definition at line 176 of file Frame.h.

float ORB_SLAM2::Frame::mfScaleFactor

Definition at line 175 of file Frame.h.

std::vector<std::size_t> ORB_SLAM2::Frame::mGrid[FRAME_GRID_COLS][FRAME_GRID_ROWS]

Definition at line 161 of file Frame.h.

cv::Mat ORB_SLAM2::Frame::mK

Definition at line 112 of file Frame.h.

long unsigned int ORB_SLAM2::Frame::mnId

Definition at line 168 of file Frame.h.

float ORB_SLAM2::Frame::mnMaxX
static

Definition at line 184 of file Frame.h.

float ORB_SLAM2::Frame::mnMaxY
static

Definition at line 186 of file Frame.h.

float ORB_SLAM2::Frame::mnMinX
static

Definition at line 183 of file Frame.h.

float ORB_SLAM2::Frame::mnMinY
static

Definition at line 185 of file Frame.h.

int ORB_SLAM2::Frame::mnScaleLevels

Definition at line 174 of file Frame.h.

cv::Mat ORB_SLAM2::Frame::mOw
private

Definition at line 208 of file Frame.h.

ORBextractor* ORB_SLAM2::Frame::mpORBextractorLeft

Definition at line 106 of file Frame.h.

ORBextractor * ORB_SLAM2::Frame::mpORBextractorRight

Definition at line 106 of file Frame.h.

ORBVocabulary* ORB_SLAM2::Frame::mpORBvocabulary

Definition at line 103 of file Frame.h.

KeyFrame* ORB_SLAM2::Frame::mpReferenceKF

Definition at line 171 of file Frame.h.

cv::Mat ORB_SLAM2::Frame::mRcw
private

Definition at line 205 of file Frame.h.

cv::Mat ORB_SLAM2::Frame::mRwc
private

Definition at line 207 of file Frame.h.

cv::Mat ORB_SLAM2::Frame::mTcw

Definition at line 164 of file Frame.h.

cv::Mat ORB_SLAM2::Frame::mtcw
private

Definition at line 206 of file Frame.h.

float ORB_SLAM2::Frame::mThDepth

Definition at line 129 of file Frame.h.

double ORB_SLAM2::Frame::mTimeStamp

Definition at line 109 of file Frame.h.

std::vector<bool> ORB_SLAM2::Frame::mvbOutlier

Definition at line 156 of file Frame.h.

std::vector<float> ORB_SLAM2::Frame::mvDepth

Definition at line 143 of file Frame.h.

vector<float> ORB_SLAM2::Frame::mvInvLevelSigma2

Definition at line 180 of file Frame.h.

vector<float> ORB_SLAM2::Frame::mvInvScaleFactors

Definition at line 178 of file Frame.h.

std::vector<cv::KeyPoint> ORB_SLAM2::Frame::mvKeys

Definition at line 137 of file Frame.h.

std::vector<cv::KeyPoint> ORB_SLAM2::Frame::mvKeysRight

Definition at line 137 of file Frame.h.

std::vector<cv::KeyPoint> ORB_SLAM2::Frame::mvKeysUn

Definition at line 138 of file Frame.h.

vector<float> ORB_SLAM2::Frame::mvLevelSigma2

Definition at line 179 of file Frame.h.

std::vector<MapPoint*> ORB_SLAM2::Frame::mvpMapPoints

Definition at line 153 of file Frame.h.

vector<float> ORB_SLAM2::Frame::mvScaleFactors

Definition at line 177 of file Frame.h.

std::vector<float> ORB_SLAM2::Frame::mvuRight

Definition at line 142 of file Frame.h.

int ORB_SLAM2::Frame::N

Definition at line 132 of file Frame.h.

long unsigned int ORB_SLAM2::Frame::nNextId =0
static

Definition at line 167 of file Frame.h.

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

orb_slam2_ros
Author(s):
autogenerated on Wed Apr 21 2021 02:53:06