#include <frame.h>

Public Member Functions
cv::Mat	computeSift ()
	Compute sift descriptors.
	Frame ()
	Empty class constructor.
	Frame (cv::Mat l_img, cv::Mat r_img, image_geometry::StereoCameraModel camera_model, double timestamp)
	Class constructor.
vector< cv::Point3f >	getCameraPoints () const
	Get 3D in camera frame.
tf::Transform	getCameraPose () const
	Get camera pose.
vector< Eigen::Vector4f >	getClusterCentroids () const
	Return the clustering for the current frame.
vector< vector< int > >	getClusters () const
	Return the clustering for the current frame.
int	getId () const
	Get frame id.
int	getInliersNumWithPreviousFrame () const
	Get frame timestamp.
cv::Mat	getLeftDesc () const
	Get left descriptors.
cv::Mat	getLeftImg () const
	Get left image.
vector< cv::KeyPoint >	getLeftKp () const
	Get left keypoints.
PointCloudRGB::Ptr	getPointCloud () const
	Get frame pointcloud.
cv::Mat	getRightImg () const
	Get right image.
vector< cv::KeyPoint >	getRightKp () const
	Get right keypoints.
double	getTimestamp () const
	Get frame timestamp.
void	regionClustering ()
	Cluster the points.
void	setCameraPoints (const vector< cv::Point3f > &points_3d)
	Set 3D.
void	setCameraPose (const tf::Transform &camera_pose)
	Set camera pose.
void	setId (const int &id)
	Set frame id.
void	setInliersNumWithPreviousFrame (const int &num_inliers)
	Set number of inliers with the previous frame.
void	setLeftDesc (const cv::Mat &l_desc)
	Set left descriptors.
void	setLeftKp (const vector< cv::KeyPoint > &l_kp)
	Set left keypoints.
void	setPointCloud (const PointCloudRGB::Ptr pointcloud)
	Set pointcloud.
Protected Member Functions
vector< int >	regionQuery (vector< cv::KeyPoint > keypoints, cv::KeyPoint keypoint, float eps)
	Search keypoints into region.
Private Attributes
vector< cv::Point3f >	camera_points_
	> Right descriptors.
tf::Transform	camera_pose_
	> Central point for every cluster
vector< Eigen::Vector4f >	cluster_centroids_
	> Keypoints clustering
vector< vector< int > >	clusters_
	> Stereo 3D points in camera frame
int	id_
ros::Publisher	kp_pub_
	> The pointcloud for this frame
cv::Mat	l_desc_
	> Right keypoints.
cv::Mat	l_img_
	> Frame id
vector< cv::KeyPoint >	l_kp_
	> Right image
int	num_inliers_with_prev_frame_
	> Keypoints publisher
PointCloudRGB::Ptr	pointcloud_
	> Store the frame timestamp
cv::Mat	r_desc_
	> Left descriptors.
cv::Mat	r_img_
	> Left image
vector< cv::KeyPoint >	r_kp_
	> Left keypoints.
double	stamp_
	> Camera world position for this frame

Detailed Description

Definition at line 33 of file frame.h.

Constructor & Destructor Documentation

slam::Frame::Frame ( )

Empty class constructor.

Definition at line 12 of file frame.cpp.

slam::Frame::Frame	(	cv::Mat	l_img,
		cv::Mat	r_img,
		image_geometry::StereoCameraModel	camera_model,
		double	timestamp
	)

Class constructor.

Definition at line 14 of file frame.cpp.

Member Function Documentation

cv::Mat slam::Frame::computeSift ( )

Compute sift descriptors.

Returns:: the matrix of sift descriptors

Definition at line 86 of file frame.cpp.

vector<cv::Point3f> slam::Frame::getCameraPoints ( ) const [inline]

Get 3D in camera frame.

Definition at line 78 of file frame.h.

tf::Transform slam::Frame::getCameraPose ( ) const [inline]

Get camera pose.

Definition at line 111 of file frame.h.

vector<Eigen::Vector4f> slam::Frame::getClusterCentroids ( ) const [inline]

Return the clustering for the current frame.

Definition at line 119 of file frame.h.

vector< vector<int> > slam::Frame::getClusters ( ) const [inline]

Return the clustering for the current frame.

Definition at line 115 of file frame.h.

int slam::Frame::getId ( ) const [inline]

Get frame id.

Definition at line 107 of file frame.h.

int slam::Frame::getInliersNumWithPreviousFrame ( ) const [inline]

Get frame timestamp.

Definition at line 131 of file frame.h.

cv::Mat slam::Frame::getLeftDesc ( ) const [inline]

Get left descriptors.

Definition at line 69 of file frame.h.

cv::Mat slam::Frame::getLeftImg ( ) const [inline]

Get left image.

Definition at line 48 of file frame.h.

vector<cv::KeyPoint> slam::Frame::getLeftKp ( ) const [inline]

Get left keypoints.

Definition at line 56 of file frame.h.

PointCloudRGB::Ptr slam::Frame::getPointCloud ( ) const [inline]

Get frame pointcloud.

Definition at line 127 of file frame.h.

cv::Mat slam::Frame::getRightImg ( ) const [inline]

Get right image.

Definition at line 52 of file frame.h.

vector<cv::KeyPoint> slam::Frame::getRightKp ( ) const [inline]

Get right keypoints.

Definition at line 65 of file frame.h.

double slam::Frame::getTimestamp ( ) const [inline]

Get frame timestamp.

Definition at line 123 of file frame.h.

void slam::Frame::regionClustering ( )

Cluster the points.

Definition at line 101 of file frame.cpp.

vector< int > slam::Frame::regionQuery	(	vector< cv::KeyPoint > *	keypoints,
		cv::KeyPoint *	keypoint,
		float	eps
	)		`[protected]`

Search keypoints into region.

Returns:: the list of keypoints into a certain region

Parameters:

list	of keypoints
query	keypoint
maximum	distance to considerate a keypoint into the region

Definition at line 255 of file frame.cpp.

void slam::Frame::setCameraPoints ( const vector< cv::Point3f > & points_3d ) [inline]

Set 3D.

Parameters:

vector of 3D points

Definition at line 88 of file frame.h.

void slam::Frame::setCameraPose ( const tf::Transform & camera_pose ) [inline]

Set camera pose.

Parameters:

camera pose

Definition at line 93 of file frame.h.

void slam::Frame::setId ( const int & id ) [inline]

Set frame id.

Parameters:

vector of 3D points

Definition at line 83 of file frame.h.

void slam::Frame::setInliersNumWithPreviousFrame ( const int & num_inliers ) [inline]

Set number of inliers with the previous frame.

Parameters:

number of inliers between current frame and previous

Definition at line 103 of file frame.h.

void slam::Frame::setLeftDesc ( const cv::Mat & l_desc ) [inline]

Set left descriptors.

Parameters:

vector of descriptors

Definition at line 74 of file frame.h.

void slam::Frame::setLeftKp ( const vector< cv::KeyPoint > & l_kp ) [inline]

Set left keypoints.

Parameters:

vector of keypoints

Definition at line 61 of file frame.h.

void slam::Frame::setPointCloud ( const PointCloudRGB::Ptr pointcloud ) [inline]

Set pointcloud.

Parameters:

pointcloud

Definition at line 98 of file frame.h.

Member Data Documentation

vector<cv::Point3f> slam::Frame::camera_points_ [private]

> Right descriptors.

Definition at line 165 of file frame.h.

tf::Transform slam::Frame::camera_pose_ [private]

> Central point for every cluster

Definition at line 171 of file frame.h.

vector<Eigen::Vector4f> slam::Frame::cluster_centroids_ [private]

> Keypoints clustering

Definition at line 169 of file frame.h.

vector< vector<int> > slam::Frame::clusters_ [private]

> Stereo 3D points in camera frame

Definition at line 167 of file frame.h.

int slam::Frame::id_ [private]

Definition at line 154 of file frame.h.

ros::Publisher slam::Frame::kp_pub_ [private]

> The pointcloud for this frame

Definition at line 177 of file frame.h.

cv::Mat slam::Frame::l_desc_ [private]

> Right keypoints.

Definition at line 162 of file frame.h.

cv::Mat slam::Frame::l_img_ [private]

> Frame id

Definition at line 156 of file frame.h.

vector<cv::KeyPoint> slam::Frame::l_kp_ [private]

> Right image

Definition at line 159 of file frame.h.

int slam::Frame::num_inliers_with_prev_frame_ [private]

> Keypoints publisher

Definition at line 179 of file frame.h.

PointCloudRGB::Ptr slam::Frame::pointcloud_ [private]

> Store the frame timestamp

Definition at line 175 of file frame.h.

cv::Mat slam::Frame::r_desc_ [private]

> Left descriptors.

Definition at line 163 of file frame.h.

cv::Mat slam::Frame::r_img_ [private]

> Left image

Definition at line 157 of file frame.h.

vector<cv::KeyPoint> slam::Frame::r_kp_ [private]

> Left keypoints.

Definition at line 160 of file frame.h.

double slam::Frame::stamp_ [private]

> Camera world position for this frame

Definition at line 173 of file frame.h.

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

Public Member Functions

Protected Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation