#include <Tracking.h>

Public Types
enum	eTrackingState { SYSTEM_NOT_READY =-1, NO_IMAGES_YET =0, NOT_INITIALIZED =1, OK =2, LOST =3 }

Public Member Functions
void	ChangeCalibration (const string &strSettingPath)

cv::Mat	GrabImageMonocular (const cv::Mat &im, const double &timestamp)

cv::Mat	GrabImageRGBD (const cv::Mat &imRGB, const cv::Mat &imD, const double &timestamp)

cv::Mat	GrabImageStereo (const cv::Mat &imRectLeft, const cv::Mat &imRectRight, const double &timestamp)

void	InformOnlyTracking (const bool &flag)

void	Reset ()

void	SetLocalMapper (LocalMapping *pLocalMapper)

void	SetLoopClosing (LoopClosing *pLoopClosing)

void	SetMinimumKeyFrames (int min_num_kf)

	Tracking (System pSys, ORBVocabulary pVoc, FrameDrawer pFrameDrawer, Map pMap, KeyFrameDatabase *pKFDB, const int sensor, ORBParameters &parameters)

Public Attributes
bool	mbOnlyTracking

Frame	mCurrentFrame

cv::Mat	mImGray

Frame	mInitialFrame

eTrackingState	mLastProcessedState

list< bool >	mlbLost

list< double >	mlFrameTimes

list< KeyFrame * >	mlpReferences

list< cv::Mat >	mlRelativeFramePoses

int	mSensor

eTrackingState	mState

std::vector< cv::Point2f >	mvbPrevMatched

std::vector< int >	mvIniLastMatches

std::vector< int >	mvIniMatches

std::vector< cv::Point3f >	mvIniP3D

Protected Member Functions
void	CheckReplacedInLastFrame ()

void	CreateInitialMapMonocular ()

void	CreateNewKeyFrame ()

void	MonocularInitialization ()

bool	NeedNewKeyFrame ()

bool	Relocalization ()

void	SearchLocalPoints ()

void	StereoInitialization ()

void	Track ()

bool	TrackLocalMap ()

bool	TrackReferenceKeyFrame ()

bool	TrackWithMotionModel ()

void	UpdateLastFrame ()

void	UpdateLocalKeyFrames ()

void	UpdateLocalMap ()

void	UpdateLocalPoints ()

Protected Attributes
int	fIniThFAST

int	fMinThFAST

float	fScaleFactor

float	mbf

bool	mbRGB

bool	mbVO

float	mDepthMapFactor

cv::Mat	mDistCoef

cv::Mat	mK

Frame	mLastFrame

list< MapPoint * >	mlpTemporalPoints

int	mMaxFrames

int	mMinFrames

unsigned int	mnLastKeyFrameId

unsigned int	mnLastRelocFrameId

int	mnMatchesInliers

int	mnMinimumKeyFrames

FrameDrawer *	mpFrameDrawer

ORBextractor *	mpIniORBextractor

Initializer *	mpInitializer

KeyFrameDatabase *	mpKeyFrameDB

KeyFrame *	mpLastKeyFrame

LocalMapping *	mpLocalMapper

LoopClosing *	mpLoopClosing

Map *	mpMap

ORBextractor *	mpORBextractorLeft

ORBextractor *	mpORBextractorRight

ORBVocabulary *	mpORBVocabulary

KeyFrame *	mpReferenceKF

System *	mpSystem

float	mThDepth

cv::Mat	mVelocity

std::vector< KeyFrame * >	mvpLocalKeyFrames

std::vector< MapPoint * >	mvpLocalMapPoints

int	nFeatures

int	nLevels

Detailed Description

Definition at line 65 of file Tracking.h.

Member Enumeration Documentation

enum ORB_SLAM2::Tracking::eTrackingState

Enumerator
SYSTEM_NOT_READY
NO_IMAGES_YET
NOT_INITIALIZED
OK
LOST

Definition at line 93 of file Tracking.h.

Constructor & Destructor Documentation

ORB_SLAM2::Tracking::Tracking	(	System *	pSys,
		ORBVocabulary *	pVoc,
		FrameDrawer *	pFrameDrawer,
		Map *	pMap,
		KeyFrameDatabase *	pKFDB,
		const int	sensor,
		ORBParameters &	parameters
	)

Definition at line 46 of file Tracking.cc.

Member Function Documentation

void ORB_SLAM2::Tracking::ChangeCalibration ( const string & strSettingPath )

Definition at line 1526 of file Tracking.cc.

void ORB_SLAM2::Tracking::CheckReplacedInLastFrame ( )

protected

Definition at line 720 of file Tracking.cc.

void ORB_SLAM2::Tracking::CreateInitialMapMonocular ( )

protected

Definition at line 618 of file Tracking.cc.

void ORB_SLAM2::Tracking::CreateNewKeyFrame ( )

protected

Definition at line 1044 of file Tracking.cc.

cv::Mat ORB_SLAM2::Tracking::GrabImageMonocular	(	const cv::Mat &	im,
		const double &	timestamp
	)

Definition at line 219 of file Tracking.cc.

cv::Mat ORB_SLAM2::Tracking::GrabImageRGBD	(	const cv::Mat &	imRGB,
		const cv::Mat &	imD,
		const double &	timestamp
	)

Definition at line 188 of file Tracking.cc.

cv::Mat ORB_SLAM2::Tracking::GrabImageStereo	(	const cv::Mat &	imRectLeft,
		const cv::Mat &	imRectRight,
		const double &	timestamp
	)

Definition at line 148 of file Tracking.cc.

void ORB_SLAM2::Tracking::InformOnlyTracking ( const bool & flag )

Definition at line 1559 of file Tracking.cc.

void ORB_SLAM2::Tracking::MonocularInitialization ( )

protected

Definition at line 544 of file Tracking.cc.

bool ORB_SLAM2::Tracking::NeedNewKeyFrame ( )

protected

Definition at line 958 of file Tracking.cc.

bool ORB_SLAM2::Tracking::Relocalization ( )

protected

Definition at line 1322 of file Tracking.cc.

void ORB_SLAM2::Tracking::Reset ( )

Definition at line 1486 of file Tracking.cc.

void ORB_SLAM2::Tracking::SearchLocalPoints ( )

protected

Definition at line 1124 of file Tracking.cc.

void ORB_SLAM2::Tracking::SetLocalMapper ( LocalMapping * pLocalMapper )

Definition at line 137 of file Tracking.cc.

void ORB_SLAM2::Tracking::SetLoopClosing ( LoopClosing * pLoopClosing )

Definition at line 142 of file Tracking.cc.

void ORB_SLAM2::Tracking::SetMinimumKeyFrames ( int min_num_kf )

inline

Definition at line 79 of file Tracking.h.

void ORB_SLAM2::Tracking::StereoInitialization ( )

protected

Definition at line 490 of file Tracking.cc.

void ORB_SLAM2::Tracking::Track ( )

protected

Definition at line 248 of file Tracking.cc.

bool ORB_SLAM2::Tracking::TrackLocalMap ( )

protected

Definition at line 911 of file Tracking.cc.

bool ORB_SLAM2::Tracking::TrackReferenceKeyFrame ( )

protected

Definition at line 738 of file Tracking.cc.

bool ORB_SLAM2::Tracking::TrackWithMotionModel ( )

protected

Definition at line 848 of file Tracking.cc.

void ORB_SLAM2::Tracking::UpdateLastFrame ( )

protected

Definition at line 782 of file Tracking.cc.

void ORB_SLAM2::Tracking::UpdateLocalKeyFrames ( )

protected

Definition at line 1212 of file Tracking.cc.

void ORB_SLAM2::Tracking::UpdateLocalMap ( )

protected

Definition at line 1176 of file Tracking.cc.

void ORB_SLAM2::Tracking::UpdateLocalPoints ( )

protected

Definition at line 1186 of file Tracking.cc.

Member Data Documentation

int ORB_SLAM2::Tracking::fIniThFAST

protected

Definition at line 236 of file Tracking.h.

int ORB_SLAM2::Tracking::fMinThFAST

protected

Definition at line 237 of file Tracking.h.

float ORB_SLAM2::Tracking::fScaleFactor

protected

Definition at line 234 of file Tracking.h.

float ORB_SLAM2::Tracking::mbf

protected

Definition at line 200 of file Tracking.h.

bool ORB_SLAM2::Tracking::mbOnlyTracking

Definition at line 126 of file Tracking.h.

bool ORB_SLAM2::Tracking::mbRGB

protected

Definition at line 227 of file Tracking.h.

bool ORB_SLAM2::Tracking::mbVO

protected

Definition at line 163 of file Tracking.h.

Frame ORB_SLAM2::Tracking::mCurrentFrame

Definition at line 108 of file Tracking.h.

float ORB_SLAM2::Tracking::mDepthMapFactor

protected

Definition at line 212 of file Tracking.h.

cv::Mat ORB_SLAM2::Tracking::mDistCoef

protected

Definition at line 199 of file Tracking.h.

cv::Mat ORB_SLAM2::Tracking::mImGray

Definition at line 109 of file Tracking.h.

Frame ORB_SLAM2::Tracking::mInitialFrame

Definition at line 116 of file Tracking.h.

cv::Mat ORB_SLAM2::Tracking::mK

protected

Definition at line 198 of file Tracking.h.

Frame ORB_SLAM2::Tracking::mLastFrame

protected

Definition at line 219 of file Tracking.h.

eTrackingState ORB_SLAM2::Tracking::mLastProcessedState

Definition at line 102 of file Tracking.h.

list<bool> ORB_SLAM2::Tracking::mlbLost

Definition at line 123 of file Tracking.h.

list<double> ORB_SLAM2::Tracking::mlFrameTimes

Definition at line 122 of file Tracking.h.

list<KeyFrame*> ORB_SLAM2::Tracking::mlpReferences

Definition at line 121 of file Tracking.h.

list<MapPoint*> ORB_SLAM2::Tracking::mlpTemporalPoints

protected

Definition at line 229 of file Tracking.h.

list<cv::Mat> ORB_SLAM2::Tracking::mlRelativeFramePoses

Definition at line 120 of file Tracking.h.

int ORB_SLAM2::Tracking::mMaxFrames

protected

Definition at line 204 of file Tracking.h.

int ORB_SLAM2::Tracking::mMinFrames

protected

Definition at line 203 of file Tracking.h.

unsigned int ORB_SLAM2::Tracking::mnLastKeyFrameId

protected

Definition at line 220 of file Tracking.h.

unsigned int ORB_SLAM2::Tracking::mnLastRelocFrameId

protected

Definition at line 221 of file Tracking.h.

int ORB_SLAM2::Tracking::mnMatchesInliers

protected

Definition at line 215 of file Tracking.h.

int ORB_SLAM2::Tracking::mnMinimumKeyFrames

protected

Definition at line 166 of file Tracking.h.

FrameDrawer* ORB_SLAM2::Tracking::mpFrameDrawer

protected

Definition at line 192 of file Tracking.h.

ORBextractor* ORB_SLAM2::Tracking::mpIniORBextractor

protected

Definition at line 174 of file Tracking.h.

Initializer* ORB_SLAM2::Tracking::mpInitializer

protected

Definition at line 181 of file Tracking.h.

KeyFrameDatabase* ORB_SLAM2::Tracking::mpKeyFrameDB

protected

Definition at line 178 of file Tracking.h.

KeyFrame* ORB_SLAM2::Tracking::mpLastKeyFrame

protected

Definition at line 218 of file Tracking.h.

LocalMapping* ORB_SLAM2::Tracking::mpLocalMapper

protected

Definition at line 169 of file Tracking.h.

LoopClosing* ORB_SLAM2::Tracking::mpLoopClosing

protected

Definition at line 170 of file Tracking.h.

Map* ORB_SLAM2::Tracking::mpMap

protected

Definition at line 195 of file Tracking.h.

ORBextractor* ORB_SLAM2::Tracking::mpORBextractorLeft

protected

Definition at line 173 of file Tracking.h.

ORBextractor * ORB_SLAM2::Tracking::mpORBextractorRight

protected

Definition at line 173 of file Tracking.h.

ORBVocabulary* ORB_SLAM2::Tracking::mpORBVocabulary

protected

Definition at line 177 of file Tracking.h.

KeyFrame* ORB_SLAM2::Tracking::mpReferenceKF

protected

Definition at line 184 of file Tracking.h.

System* ORB_SLAM2::Tracking::mpSystem

protected

Definition at line 189 of file Tracking.h.

int ORB_SLAM2::Tracking::mSensor

Definition at line 105 of file Tracking.h.

eTrackingState ORB_SLAM2::Tracking::mState

Definition at line 101 of file Tracking.h.

float ORB_SLAM2::Tracking::mThDepth

protected

Definition at line 209 of file Tracking.h.

std::vector<cv::Point2f> ORB_SLAM2::Tracking::mvbPrevMatched

Definition at line 114 of file Tracking.h.

cv::Mat ORB_SLAM2::Tracking::mVelocity

protected

Definition at line 224 of file Tracking.h.

std::vector<int> ORB_SLAM2::Tracking::mvIniLastMatches

Definition at line 112 of file Tracking.h.

std::vector<int> ORB_SLAM2::Tracking::mvIniMatches

Definition at line 113 of file Tracking.h.

std::vector<cv::Point3f> ORB_SLAM2::Tracking::mvIniP3D

Definition at line 115 of file Tracking.h.

std::vector<KeyFrame*> ORB_SLAM2::Tracking::mvpLocalKeyFrames

protected

Definition at line 185 of file Tracking.h.

std::vector<MapPoint*> ORB_SLAM2::Tracking::mvpLocalMapPoints

protected

Definition at line 186 of file Tracking.h.

int ORB_SLAM2::Tracking::nFeatures

protected

Definition at line 233 of file Tracking.h.

int ORB_SLAM2::Tracking::nLevels

protected

Definition at line 235 of file Tracking.h.

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

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation