fovis::OdometryFrame Class Reference

Stores data specific to an input frame. More...

#include <frame.hpp>

List of all members.

Public Member Functions
int	getFeatureWindowSize () const
const PyramidLevel *	getLevel (int i) const
PyramidLevel *	getLevel (int i)
int	getNumDetectedKeypoints () const
int	getNumKeypoints () const
int	getNumLevels () const
	OdometryFrame (const Rectification *rectification, const VisualOdometryOptions &options)
void	prepareFrame (const uint8_t *raw_gray, int fast_threshold, DepthSource *depth_source)
void	sanityCheck () const
	~OdometryFrame ()
Private Member Functions
void	purgeBadKeypoints ()
Private Attributes
int	_feature_window_size
std::vector< PyramidLevel * >	_levels
int	_num_levels
int	_orig_height
int	_orig_width
const Rectification *	_rectification
bool	_use_bucketing
bool	_use_image_normalization

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Detailed Description

Stores data specific to an input frame.

fovis/fovis.hpp

Stores grayscaled image, disparity map, keypoints (detected features), and keypoint descriptors.

Definition at line 33 of file frame.hpp.

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Constructor & Destructor Documentation

fovis::OdometryFrame::OdometryFrame	(	const Rectification *	rectification,
		const VisualOdometryOptions &	options
	)

Definition at line 30 of file frame.cpp.

fovis::OdometryFrame::~OdometryFrame

(

)

Definition at line 63 of file frame.cpp.

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Member Function Documentation

int fovis::OdometryFrame::getFeatureWindowSize

(

)

const [inline]

Definition at line 73 of file frame.hpp.

const PyramidLevel* fovis::OdometryFrame::getLevel

(

int

i

)

const [inline]

Definition at line 63 of file frame.hpp.

PyramidLevel* fovis::OdometryFrame::getLevel

(

int

i

)

[inline]

Definition at line 67 of file frame.hpp.

int fovis::OdometryFrame::getNumDetectedKeypoints

(

)

const [inline]

Definition at line 52 of file frame.hpp.

int fovis::OdometryFrame::getNumKeypoints

(

)

const [inline]

Definition at line 45 of file frame.hpp.

int fovis::OdometryFrame::getNumLevels

(

)

const [inline]

Definition at line 59 of file frame.hpp.

void fovis::OdometryFrame::prepareFrame	(	const uint8_t *	raw_gray,
		int	fast_threshold,
		DepthSource *	depth_source
	)

Definition at line 72 of file frame.cpp.

void fovis::OdometryFrame::purgeBadKeypoints

(

)

[private]

Delete keypoints (and corresponding descriptors) for which we couldn't get depth.

Definition at line 200 of file frame.cpp.

void fovis::OdometryFrame::sanityCheck

(

)

const

Definition at line 236 of file frame.cpp.

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Member Data Documentation

int fovis::OdometryFrame::_feature_window_size [private]

Definition at line 83 of file frame.hpp.

std::vector<PyramidLevel*> fovis::OdometryFrame::_levels [private]

Definition at line 90 of file frame.hpp.

int fovis::OdometryFrame::_num_levels [private]

Definition at line 82 of file frame.hpp.

int fovis::OdometryFrame::_orig_height [private]

Definition at line 80 of file frame.hpp.

int fovis::OdometryFrame::_orig_width [private]

Definition at line 79 of file frame.hpp.

const Rectification* fovis::OdometryFrame::_rectification [private]

Definition at line 88 of file frame.hpp.

bool fovis::OdometryFrame::_use_bucketing [private]

Definition at line 84 of file frame.hpp.

bool fovis::OdometryFrame::_use_image_normalization [private]

Definition at line 85 of file frame.hpp.

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

• frame.hpp
• frame.cpp