#include <keyframe.h>

Public Member Functions
void	addPoints (pcl::PointCloud< pcl::PointXYZRGBSIFT >::Ptr &pointcloud, std::vector< int > &map_idx_points)
void	addPoints (pcl::PointCloud< pcl::PointXYZRGBSIFT >::Ptr &pointcloud)
void	convertDescriptors ()
	Method to get convert keypoints descriptors in the OpenCV format.
void	getDescriptors (cv::Mat &descriptors)
int	getID ()
	Method to get current KeyFrame ID number.
ucl_drone::Pose3D	getPose ()
	Method to get the pose of the drone from which the keypoints were observed.
	KeyFrame ()
	Empty Contructor.
	KeyFrame (ucl_drone::Pose3D &pose)
void	matchWithFrame (Frame &frame, std::vector< std::vector< int > > &idx_matching_points, std::vector< cv::Point3f > &keyframe_matching_points, std::vector< cv::Point2f > &frame_matching_points)
int	size ()
	Method to get the number of keypoints in the current Keyframe.
	~KeyFrame ()
	Destructor.
Static Public Member Functions
static KeyFrame *	getKeyFrame (const int ID)
	Function to get a Keyframe by its ID.
static void	resetList ()
	Function to remove all previous KeyFrames taken.
Public Attributes
pcl::PointCloud < pcl::PointXYZRGBSIFT >::Ptr	cloud
Private Attributes
cv::Mat	descriptors
	descriptors in opencv format
int	ID
	Identification number of the keyframe.
cv::FlannBasedMatcher	matcher
	object for descriptiors comparison
std::vector< int >	points
	indexes of points in the pointcloud (the map)
ucl_drone::Pose3D	pose
	pose of the drone from which the keypoints were observed
Static Private Attributes
static std::vector< KeyFrame * >	instances_list

Detailed Description

A KeyFrame object stores 3D points seen on a same picture In the future, with triangulation enabled for 3D reconstruction a KeyFrame object will store 3D points seen from some close poses (close to be defined according to the camera observation model) A list of Frames (containing 2D keypoint) will be necessary

Definition at line 40 of file keyframe.h.

Constructor & Destructor Documentation

KeyFrame::KeyFrame ( )

Empty Contructor.

Definition at line 15 of file keyframe.cpp.

KeyFrame::KeyFrame ( ucl_drone::Pose3D & pose )

Constructor

Parameters:

[in] pose Pose of the drone from which the keypoints were observed

Definition at line 19 of file keyframe.cpp.

KeyFrame::~KeyFrame ( )

Destructor.

Definition at line 29 of file keyframe.cpp.

Member Function Documentation

void KeyFrame::addPoints	(	pcl::PointCloud< pcl::PointXYZRGBSIFT >::Ptr &	pointcloud,
		std::vector< int > &	map_idx_points
	)

Method to add a list of points to the current Keyframe

Parameters:

[in] pointcloud points to add in PCL format [in] map_idx_points indexes of thes points in the map pointcloud

Definition at line 42 of file keyframe.cpp.

void KeyFrame::addPoints ( pcl::PointCloud< pcl::PointXYZRGBSIFT >::Ptr & pointcloud )

Method to add a list of points to the current Keyframe

Parameters:

[in] pointcloud points to add in PCL format

Definition at line 50 of file keyframe.cpp.

void KeyFrame::convertDescriptors ( )

Method to get convert keypoints descriptors in the OpenCV format.

Definition at line 90 of file keyframe.cpp.

void KeyFrame::getDescriptors ( cv::Mat & descriptors )

Method to get the keypoints descriptors

Parameters:

[out] descriptors Descriptors in the OpenCV format

Definition at line 81 of file keyframe.cpp.

int KeyFrame::getID ( )

Method to get current KeyFrame ID number.

Definition at line 66 of file keyframe.cpp.

KeyFrame * KeyFrame::getKeyFrame ( const int ID ) [static]

Function to get a Keyframe by its ID.

Definition at line 56 of file keyframe.cpp.

ucl_drone::Pose3D KeyFrame::getPose ( )

Method to get the pose of the drone from which the keypoints were observed.

Definition at line 76 of file keyframe.cpp.

void KeyFrame::matchWithFrame	(	Frame &	frame,
		std::vector< std::vector< int > > &	idx_matching_points,
		std::vector< cv::Point3f > &	keyframe_matching_points,
		std::vector< cv::Point2f > &	frame_matching_points
	)

Method to compare the current KeyFrame to a 2D Frame

Parameters:

[in]	frame	Frame to compare
[out]	idx_matching_points	Vector of pairs of indexes: (i,j) with i the map index, j the frame index
[out]	keyframe_matching_points	Vector of matching points (3D) in the Keyframe
[out]	frame_matching_points	Vector of matching points (2D) in the Frame

Definition at line 102 of file keyframe.cpp.

void KeyFrame::resetList ( ) [static]

Function to remove all previous KeyFrames taken.

Definition at line 33 of file keyframe.cpp.

int KeyFrame::size ( )

Method to get the number of keypoints in the current Keyframe.

Definition at line 71 of file keyframe.cpp.

Member Data Documentation

pcl::PointCloud< pcl::PointXYZRGBSIFT >::Ptr KeyFrame::cloud

Definition at line 52 of file keyframe.h.

cv::Mat KeyFrame::descriptors [private]

descriptors in opencv format

Definition at line 49 of file keyframe.h.

int KeyFrame::ID [private]

Identification number of the keyframe.

Definition at line 45 of file keyframe.h.

std::vector< KeyFrame * > KeyFrame::instances_list [static, private]

Definition at line 43 of file keyframe.h.

cv::FlannBasedMatcher KeyFrame::matcher [private]

object for descriptiors comparison

Definition at line 48 of file keyframe.h.

std::vector< int > KeyFrame::points [private]

indexes of points in the pointcloud (the map)

Definition at line 46 of file keyframe.h.

ucl_drone::Pose3D KeyFrame::pose [private]

pose of the drone from which the keypoints were observed

Definition at line 47 of file keyframe.h.

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

Public Member Functions

Static Public Member Functions

Public Attributes

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation