#include <KeyFrame.h>

Public Member Functions
void	AddChild (KeyFrame *pKF)

void	AddConnection (KeyFrame *pKF, const int &weight)

void	AddLoopEdge (KeyFrame *pKF)

void	AddMapPoint (MapPoint *pMP, const size_t &idx)

void	ChangeParent (KeyFrame *pKF)

void	ComputeBoW ()

float	ComputeSceneMedianDepth (const int q)

void	EraseChild (KeyFrame *pKF)

void	EraseConnection (KeyFrame *pKF)

void	EraseMapPointMatch (const size_t &idx)

void	EraseMapPointMatch (MapPoint *pMP)

std::vector< KeyFrame * >	GetBestCovisibilityKeyFrames (const int &N)

cv::Mat	GetCameraCenter ()

std::set< KeyFrame * >	GetChilds ()

std::set< KeyFrame * >	GetConnectedKeyFrames ()

std::vector< KeyFrame * >	GetCovisiblesByWeight (const int &w)

std::vector< size_t >	GetFeaturesInArea (const float &x, const float &y, const float &r) const

std::set< KeyFrame * >	GetLoopEdges ()

MapPoint *	GetMapPoint (const size_t &idx)

std::vector< MapPoint * >	GetMapPointMatches ()

std::set< MapPoint * >	GetMapPoints ()

KeyFrame *	GetParent ()

cv::Mat	GetPose ()

cv::Mat	GetPoseInverse ()

cv::Mat	GetRotation ()

cv::Mat	GetStereoCenter ()

cv::Mat	GetTranslation ()

std::vector< KeyFrame * >	GetVectorCovisibleKeyFrames ()

int	GetWeight (KeyFrame *pKF)

bool	hasChild (KeyFrame *pKF)

bool	isBad ()

bool	IsInImage (const float &x, const float &y) const

	KeyFrame (Frame &F, Map pMap, KeyFrameDatabase pKFDB)

	KeyFrame ()

void	ReplaceMapPointMatch (const size_t &idx, MapPoint *pMP)

void	SetBadFlag ()

void	SetErase ()

void	SetNotErase ()

void	SetORBvocabulary (ORBVocabulary *porbv)

void	SetPose (const cv::Mat &Tcw)

int	TrackedMapPoints (const int &minObs)

cv::Mat	UnprojectStereo (int i)

void	UpdateBestCovisibles ()

void	UpdateConnections ()

Static Public Member Functions
static bool	lId (KeyFrame pKF1, KeyFrame pKF2)

static bool	weightComp (int a, int b)

Public Attributes
const float	cx

const float	cy

const float	fx

const float	fy

const float	invfx

const float	invfy

const float	mb

const float	mbf

DBoW2::BowVector	mBowVec

const cv::Mat	mDescriptors

DBoW2::FeatureVector	mFeatVec

const float	mfGridElementHeightInv

const float	mfGridElementWidthInv

const float	mfLogScaleFactor

const float	mfScaleFactor

const cv::Mat	mK

float	mLoopScore

long unsigned int	mnBAFixedForKF

long unsigned int	mnBAGlobalForKF

long unsigned int	mnBALocalForKF

const long unsigned int	mnFrameId

long unsigned int	mnFuseTargetForKF

const int	mnGridCols

const int	mnGridRows

long unsigned int	mnId

long unsigned int	mnLoopQuery

int	mnLoopWords

const int	mnMaxX

const int	mnMaxY

const int	mnMinX

const int	mnMinY

long unsigned int	mnRelocQuery

int	mnRelocWords

const int	mnScaleLevels

long unsigned int	mnTrackReferenceForFrame

float	mRelocScore

cv::Mat	mTcp

cv::Mat	mTcwBefGBA

cv::Mat	mTcwGBA

const float	mThDepth

const double	mTimeStamp

const std::vector< float >	mvDepth

const std::vector< float >	mvInvLevelSigma2

const std::vector< cv::KeyPoint >	mvKeys

const std::vector< cv::KeyPoint >	mvKeysUn

const std::vector< float >	mvLevelSigma2

const std::vector< float >	mvScaleFactors

const std::vector< float >	mvuRight

const int	N

Static Public Attributes
static long unsigned int	nNextId =0

Protected Attributes
cv::Mat	Cw

bool	mbBad

bool	mbFirstConnection

bool	mbNotErase

bool	mbToBeErased

std::map< KeyFrame *, int >	mConnectedKeyFrameWeights

std::vector< std::vector< std::vector< size_t > > >	mGrid

float	mHalfBaseline

std::mutex	mMutexConnections

std::mutex	mMutexFeatures

std::mutex	mMutexPose

KeyFrameDatabase *	mpKeyFrameDB

Map *	mpMap

ORBVocabulary *	mpORBvocabulary

KeyFrame *	mpParent

std::set< KeyFrame * >	mspChildrens

std::set< KeyFrame * >	mspLoopEdges

std::vector< int >	mvOrderedWeights

std::vector< MapPoint * >	mvpMapPoints

std::vector< KeyFrame * >	mvpOrderedConnectedKeyFrames

cv::Mat	Ow

cv::Mat	Tcw

cv::Mat	Twc

Private Member Functions
template<class Archive >
void	serialize (Archive &ar, const unsigned int version)

Friends
class	boost::serialization::access

Detailed Description

Definition at line 44 of file KeyFrame.h.

Constructor & Destructor Documentation

ORB_SLAM2::KeyFrame::KeyFrame	(	Frame &	F,
		Map *	pMap,
		KeyFrameDatabase *	pKFDB
	)

Definition at line 31 of file KeyFrame.cc.

ORB_SLAM2::KeyFrame::KeyFrame ( )

Definition at line 667 of file KeyFrame.cc.

Member Function Documentation

void ORB_SLAM2::KeyFrame::AddChild ( KeyFrame * pKF )

Definition at line 381 of file KeyFrame.cc.

void ORB_SLAM2::KeyFrame::AddConnection	(	KeyFrame *	pKF,
		const int &	weight
	)

Definition at line 123 of file KeyFrame.cc.

void ORB_SLAM2::KeyFrame::AddLoopEdge ( KeyFrame * pKF )

Definition at line 418 of file KeyFrame.cc.

void ORB_SLAM2::KeyFrame::AddMapPoint	(	MapPoint *	pMP,
		const size_t &	idx
	)

Definition at line 210 of file KeyFrame.cc.

void ORB_SLAM2::KeyFrame::ChangeParent ( KeyFrame * pKF )

Definition at line 393 of file KeyFrame.cc.

void ORB_SLAM2::KeyFrame::ComputeBoW ( )

Definition at line 59 of file KeyFrame.cc.

float ORB_SLAM2::KeyFrame::ComputeSceneMedianDepth ( const int q )

Definition at line 633 of file KeyFrame.cc.

void ORB_SLAM2::KeyFrame::EraseChild ( KeyFrame * pKF )

Definition at line 387 of file KeyFrame.cc.

void ORB_SLAM2::KeyFrame::EraseConnection ( KeyFrame * pKF )

Definition at line 553 of file KeyFrame.cc.

void ORB_SLAM2::KeyFrame::EraseMapPointMatch ( const size_t & idx )

Definition at line 216 of file KeyFrame.cc.

void ORB_SLAM2::KeyFrame::EraseMapPointMatch ( MapPoint * pMP )

Definition at line 222 of file KeyFrame.cc.

vector< KeyFrame * > ORB_SLAM2::KeyFrame::GetBestCovisibilityKeyFrames ( const int & N )

Definition at line 174 of file KeyFrame.cc.

cv::Mat ORB_SLAM2::KeyFrame::GetCameraCenter ( )

Definition at line 98 of file KeyFrame.cc.

set< KeyFrame * > ORB_SLAM2::KeyFrame::GetChilds ( )

Definition at line 400 of file KeyFrame.cc.

set< KeyFrame * > ORB_SLAM2::KeyFrame::GetConnectedKeyFrames ( )

Definition at line 159 of file KeyFrame.cc.

vector< KeyFrame * > ORB_SLAM2::KeyFrame::GetCovisiblesByWeight ( const int & w )

Definition at line 184 of file KeyFrame.cc.

vector< size_t > ORB_SLAM2::KeyFrame::GetFeaturesInArea	(	const float &	x,
		const float &	y,
		const float &	r
	)		const

Definition at line 569 of file KeyFrame.cc.

set< KeyFrame * > ORB_SLAM2::KeyFrame::GetLoopEdges ( )

Definition at line 425 of file KeyFrame.cc.

MapPoint * ORB_SLAM2::KeyFrame::GetMapPoint ( const size_t & idx )

Definition at line 283 of file KeyFrame.cc.

vector< MapPoint * > ORB_SLAM2::KeyFrame::GetMapPointMatches ( )

Definition at line 277 of file KeyFrame.cc.

set< MapPoint * > ORB_SLAM2::KeyFrame::GetMapPoints ( )

Definition at line 235 of file KeyFrame.cc.

KeyFrame * ORB_SLAM2::KeyFrame::GetParent ( )

Definition at line 406 of file KeyFrame.cc.

cv::Mat ORB_SLAM2::KeyFrame::GetPose ( )

Definition at line 86 of file KeyFrame.cc.

cv::Mat ORB_SLAM2::KeyFrame::GetPoseInverse ( )

Definition at line 92 of file KeyFrame.cc.

cv::Mat ORB_SLAM2::KeyFrame::GetRotation ( )

Definition at line 111 of file KeyFrame.cc.

cv::Mat ORB_SLAM2::KeyFrame::GetStereoCenter ( )

Definition at line 104 of file KeyFrame.cc.

cv::Mat ORB_SLAM2::KeyFrame::GetTranslation ( )

Definition at line 117 of file KeyFrame.cc.

vector< KeyFrame * > ORB_SLAM2::KeyFrame::GetVectorCovisibleKeyFrames ( )

Definition at line 168 of file KeyFrame.cc.

int ORB_SLAM2::KeyFrame::GetWeight ( KeyFrame * pKF )

Definition at line 201 of file KeyFrame.cc.

bool ORB_SLAM2::KeyFrame::hasChild ( KeyFrame * pKF )

Definition at line 412 of file KeyFrame.cc.

bool ORB_SLAM2::KeyFrame::isBad ( )

Definition at line 547 of file KeyFrame.cc.

bool ORB_SLAM2::KeyFrame::IsInImage	(	const float &	x,
		const float &	y
	)		const

Definition at line 610 of file KeyFrame.cc.

static bool ORB_SLAM2::KeyFrame::lId	(	KeyFrame *	pKF1,
		KeyFrame *	pKF2
	)

inlinestatic

Definition at line 116 of file KeyFrame.h.

void ORB_SLAM2::KeyFrame::ReplaceMapPointMatch	(	const size_t &	idx,
		MapPoint *	pMP
	)

Definition at line 230 of file KeyFrame.cc.

template<class Archive >

template void ORB_SLAM2::KeyFrame::serialize	(	Archive &	ar,
		const unsigned int	version
	)

private

Definition at line 679 of file KeyFrame.cc.

void ORB_SLAM2::KeyFrame::SetBadFlag ( )

Definition at line 453 of file KeyFrame.cc.

void ORB_SLAM2::KeyFrame::SetErase ( )

Definition at line 437 of file KeyFrame.cc.

void ORB_SLAM2::KeyFrame::SetNotErase ( )

Definition at line 431 of file KeyFrame.cc.

void ORB_SLAM2::KeyFrame::SetORBvocabulary ( ORBVocabulary * porbv )

inline

Definition at line 239 of file KeyFrame.h.

void ORB_SLAM2::KeyFrame::SetPose ( const cv::Mat & Tcw )

Definition at line 70 of file KeyFrame.cc.

int ORB_SLAM2::KeyFrame::TrackedMapPoints ( const int & minObs )

Definition at line 250 of file KeyFrame.cc.

cv::Mat ORB_SLAM2::KeyFrame::UnprojectStereo ( int i )

Definition at line 615 of file KeyFrame.cc.

void ORB_SLAM2::KeyFrame::UpdateBestCovisibles ( )

Definition at line 138 of file KeyFrame.cc.

void ORB_SLAM2::KeyFrame::UpdateConnections ( )

Definition at line 289 of file KeyFrame.cc.

static bool ORB_SLAM2::KeyFrame::weightComp	(	int	a,
		int	b
	)

inlinestatic

Definition at line 112 of file KeyFrame.h.

Friends And Related Function Documentation

friend class boost::serialization::access

friend

Definition at line 242 of file KeyFrame.h.

Member Data Documentation

cv::Mat ORB_SLAM2::KeyFrame::Cw

protected

Definition at line 201 of file KeyFrame.h.

const float ORB_SLAM2::KeyFrame::cx

Definition at line 158 of file KeyFrame.h.

const float ORB_SLAM2::KeyFrame::cy

Definition at line 158 of file KeyFrame.h.

const float ORB_SLAM2::KeyFrame::fx

Definition at line 158 of file KeyFrame.h.

const float ORB_SLAM2::KeyFrame::fy

Definition at line 158 of file KeyFrame.h.

const float ORB_SLAM2::KeyFrame::invfx

Definition at line 158 of file KeyFrame.h.

const float ORB_SLAM2::KeyFrame::invfy

Definition at line 158 of file KeyFrame.h.

const float ORB_SLAM2::KeyFrame::mb

Definition at line 158 of file KeyFrame.h.

bool ORB_SLAM2::KeyFrame::mbBad

protected

Definition at line 226 of file KeyFrame.h.

const float ORB_SLAM2::KeyFrame::mbf

Definition at line 158 of file KeyFrame.h.

bool ORB_SLAM2::KeyFrame::mbFirstConnection

protected

Definition at line 218 of file KeyFrame.h.

bool ORB_SLAM2::KeyFrame::mbNotErase

protected

Definition at line 224 of file KeyFrame.h.

DBoW2::BowVector ORB_SLAM2::KeyFrame::mBowVec

Definition at line 171 of file KeyFrame.h.

bool ORB_SLAM2::KeyFrame::mbToBeErased

protected

Definition at line 225 of file KeyFrame.h.

std::map<KeyFrame*,int> ORB_SLAM2::KeyFrame::mConnectedKeyFrameWeights

protected

Definition at line 213 of file KeyFrame.h.

const cv::Mat ORB_SLAM2::KeyFrame::mDescriptors

Definition at line 168 of file KeyFrame.h.

DBoW2::FeatureVector ORB_SLAM2::KeyFrame::mFeatVec

Definition at line 172 of file KeyFrame.h.

const float ORB_SLAM2::KeyFrame::mfGridElementHeightInv

Definition at line 134 of file KeyFrame.h.

const float ORB_SLAM2::KeyFrame::mfGridElementWidthInv

Definition at line 133 of file KeyFrame.h.

const float ORB_SLAM2::KeyFrame::mfLogScaleFactor

Definition at line 180 of file KeyFrame.h.

const float ORB_SLAM2::KeyFrame::mfScaleFactor

Definition at line 179 of file KeyFrame.h.

std::vector< std::vector <std::vector<size_t> > > ORB_SLAM2::KeyFrame::mGrid

protected

Definition at line 211 of file KeyFrame.h.

float ORB_SLAM2::KeyFrame::mHalfBaseline

protected

Definition at line 228 of file KeyFrame.h.

const cv::Mat ORB_SLAM2::KeyFrame::mK

Definition at line 190 of file KeyFrame.h.

float ORB_SLAM2::KeyFrame::mLoopScore

Definition at line 147 of file KeyFrame.h.

std::mutex ORB_SLAM2::KeyFrame::mMutexConnections

protected

Definition at line 233 of file KeyFrame.h.

std::mutex ORB_SLAM2::KeyFrame::mMutexFeatures

protected

Definition at line 234 of file KeyFrame.h.

std::mutex ORB_SLAM2::KeyFrame::mMutexPose

protected

Definition at line 232 of file KeyFrame.h.

long unsigned int ORB_SLAM2::KeyFrame::mnBAFixedForKF

Definition at line 142 of file KeyFrame.h.

long unsigned int ORB_SLAM2::KeyFrame::mnBAGlobalForKF

Definition at line 155 of file KeyFrame.h.

long unsigned int ORB_SLAM2::KeyFrame::mnBALocalForKF

Definition at line 141 of file KeyFrame.h.

const long unsigned int ORB_SLAM2::KeyFrame::mnFrameId

Definition at line 126 of file KeyFrame.h.

long unsigned int ORB_SLAM2::KeyFrame::mnFuseTargetForKF

Definition at line 138 of file KeyFrame.h.

const int ORB_SLAM2::KeyFrame::mnGridCols

Definition at line 131 of file KeyFrame.h.

const int ORB_SLAM2::KeyFrame::mnGridRows

Definition at line 132 of file KeyFrame.h.

long unsigned int ORB_SLAM2::KeyFrame::mnId

Definition at line 125 of file KeyFrame.h.

long unsigned int ORB_SLAM2::KeyFrame::mnLoopQuery

Definition at line 145 of file KeyFrame.h.

int ORB_SLAM2::KeyFrame::mnLoopWords

Definition at line 146 of file KeyFrame.h.

const int ORB_SLAM2::KeyFrame::mnMaxX

Definition at line 188 of file KeyFrame.h.

const int ORB_SLAM2::KeyFrame::mnMaxY

Definition at line 189 of file KeyFrame.h.

const int ORB_SLAM2::KeyFrame::mnMinX

Definition at line 186 of file KeyFrame.h.

const int ORB_SLAM2::KeyFrame::mnMinY

Definition at line 187 of file KeyFrame.h.

long unsigned int ORB_SLAM2::KeyFrame::mnRelocQuery

Definition at line 148 of file KeyFrame.h.

int ORB_SLAM2::KeyFrame::mnRelocWords

Definition at line 149 of file KeyFrame.h.

const int ORB_SLAM2::KeyFrame::mnScaleLevels

Definition at line 178 of file KeyFrame.h.

long unsigned int ORB_SLAM2::KeyFrame::mnTrackReferenceForFrame

Definition at line 137 of file KeyFrame.h.

KeyFrameDatabase* ORB_SLAM2::KeyFrame::mpKeyFrameDB

protected

Definition at line 207 of file KeyFrame.h.

Map* ORB_SLAM2::KeyFrame::mpMap

protected

Definition at line 230 of file KeyFrame.h.

ORBVocabulary* ORB_SLAM2::KeyFrame::mpORBvocabulary

protected

Definition at line 208 of file KeyFrame.h.

KeyFrame* ORB_SLAM2::KeyFrame::mpParent

protected

Definition at line 219 of file KeyFrame.h.

float ORB_SLAM2::KeyFrame::mRelocScore

Definition at line 150 of file KeyFrame.h.

std::set<KeyFrame*> ORB_SLAM2::KeyFrame::mspChildrens

protected

Definition at line 220 of file KeyFrame.h.

std::set<KeyFrame*> ORB_SLAM2::KeyFrame::mspLoopEdges

protected

Definition at line 221 of file KeyFrame.h.

cv::Mat ORB_SLAM2::KeyFrame::mTcp

Definition at line 175 of file KeyFrame.h.

cv::Mat ORB_SLAM2::KeyFrame::mTcwBefGBA

Definition at line 154 of file KeyFrame.h.

cv::Mat ORB_SLAM2::KeyFrame::mTcwGBA

Definition at line 153 of file KeyFrame.h.

const float ORB_SLAM2::KeyFrame::mThDepth

Definition at line 158 of file KeyFrame.h.

const double ORB_SLAM2::KeyFrame::mTimeStamp

Definition at line 128 of file KeyFrame.h.

const std::vector<float> ORB_SLAM2::KeyFrame::mvDepth

Definition at line 167 of file KeyFrame.h.

const std::vector<float> ORB_SLAM2::KeyFrame::mvInvLevelSigma2

Definition at line 183 of file KeyFrame.h.

const std::vector<cv::KeyPoint> ORB_SLAM2::KeyFrame::mvKeys

Definition at line 164 of file KeyFrame.h.

const std::vector<cv::KeyPoint> ORB_SLAM2::KeyFrame::mvKeysUn

Definition at line 165 of file KeyFrame.h.

const std::vector<float> ORB_SLAM2::KeyFrame::mvLevelSigma2

Definition at line 182 of file KeyFrame.h.

std::vector<int> ORB_SLAM2::KeyFrame::mvOrderedWeights

protected

Definition at line 215 of file KeyFrame.h.

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

protected

Definition at line 204 of file KeyFrame.h.

std::vector<KeyFrame*> ORB_SLAM2::KeyFrame::mvpOrderedConnectedKeyFrames

protected

Definition at line 214 of file KeyFrame.h.

const std::vector<float> ORB_SLAM2::KeyFrame::mvScaleFactors

Definition at line 181 of file KeyFrame.h.

const std::vector<float> ORB_SLAM2::KeyFrame::mvuRight

Definition at line 166 of file KeyFrame.h.

const int ORB_SLAM2::KeyFrame::N

Definition at line 161 of file KeyFrame.h.

long unsigned int ORB_SLAM2::KeyFrame::nNextId =0

static

Definition at line 124 of file KeyFrame.h.

cv::Mat ORB_SLAM2::KeyFrame::Ow

protected

Definition at line 199 of file KeyFrame.h.

cv::Mat ORB_SLAM2::KeyFrame::Tcw

protected

Definition at line 197 of file KeyFrame.h.

cv::Mat ORB_SLAM2::KeyFrame::Twc

protected

Definition at line 198 of file KeyFrame.h.

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

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Attributes

Private Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation