Public Member Functions | Static Public Member Functions | Public Attributes | Static Public Attributes | Protected Attributes | List of all members
ORB_SLAM2::KeyFrame Class Reference

#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)
 
void ReplaceMapPointMatch (const size_t &idx, MapPoint *pMP)
 
void SetBadFlag ()
 
void SetErase ()
 
void SetNotErase ()
 
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
 

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
 

Detailed Description

Definition at line 43 of file KeyFrame.h.

Constructor & Destructor Documentation

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

Member Function Documentation

void ORB_SLAM2::KeyFrame::AddChild ( KeyFrame *  pKF)
void ORB_SLAM2::KeyFrame::AddConnection ( KeyFrame *  pKF,
const int &  weight 
)
void ORB_SLAM2::KeyFrame::AddLoopEdge ( KeyFrame *  pKF)
void ORB_SLAM2::KeyFrame::AddMapPoint ( MapPoint *  pMP,
const size_t &  idx 
)
void ORB_SLAM2::KeyFrame::ChangeParent ( KeyFrame *  pKF)
void ORB_SLAM2::KeyFrame::ComputeBoW ( )
float ORB_SLAM2::KeyFrame::ComputeSceneMedianDepth ( const int  q)
void ORB_SLAM2::KeyFrame::EraseChild ( KeyFrame *  pKF)
void ORB_SLAM2::KeyFrame::EraseConnection ( KeyFrame *  pKF)
void ORB_SLAM2::KeyFrame::EraseMapPointMatch ( const size_t &  idx)
void ORB_SLAM2::KeyFrame::EraseMapPointMatch ( MapPoint *  pMP)
std::vector<KeyFrame*> ORB_SLAM2::KeyFrame::GetBestCovisibilityKeyFrames ( const int &  N)
cv::Mat ORB_SLAM2::KeyFrame::GetCameraCenter ( )
std::set<KeyFrame*> ORB_SLAM2::KeyFrame::GetChilds ( )
std::set<KeyFrame *> ORB_SLAM2::KeyFrame::GetConnectedKeyFrames ( )
std::vector<KeyFrame*> ORB_SLAM2::KeyFrame::GetCovisiblesByWeight ( const int &  w)
std::vector<size_t> ORB_SLAM2::KeyFrame::GetFeaturesInArea ( const float &  x,
const float &  y,
const float &  r 
) const
std::set<KeyFrame*> ORB_SLAM2::KeyFrame::GetLoopEdges ( )
MapPoint* ORB_SLAM2::KeyFrame::GetMapPoint ( const size_t &  idx)
std::vector<MapPoint*> ORB_SLAM2::KeyFrame::GetMapPointMatches ( )
std::set<MapPoint*> ORB_SLAM2::KeyFrame::GetMapPoints ( )
KeyFrame* ORB_SLAM2::KeyFrame::GetParent ( )
cv::Mat ORB_SLAM2::KeyFrame::GetPose ( )
cv::Mat ORB_SLAM2::KeyFrame::GetPoseInverse ( )
cv::Mat ORB_SLAM2::KeyFrame::GetRotation ( )
cv::Mat ORB_SLAM2::KeyFrame::GetStereoCenter ( )
cv::Mat ORB_SLAM2::KeyFrame::GetTranslation ( )
std::vector<KeyFrame* > ORB_SLAM2::KeyFrame::GetVectorCovisibleKeyFrames ( )
int ORB_SLAM2::KeyFrame::GetWeight ( KeyFrame *  pKF)
bool ORB_SLAM2::KeyFrame::hasChild ( KeyFrame *  pKF)
bool ORB_SLAM2::KeyFrame::isBad ( )
bool ORB_SLAM2::KeyFrame::IsInImage ( const float &  x,
const float &  y 
) const
static bool ORB_SLAM2::KeyFrame::lId ( KeyFrame *  pKF1,
KeyFrame *  pKF2 
)
inlinestatic

Definition at line 114 of file KeyFrame.h.

void ORB_SLAM2::KeyFrame::ReplaceMapPointMatch ( const size_t &  idx,
MapPoint *  pMP 
)
void ORB_SLAM2::KeyFrame::SetBadFlag ( )
void ORB_SLAM2::KeyFrame::SetErase ( )
void ORB_SLAM2::KeyFrame::SetNotErase ( )
void ORB_SLAM2::KeyFrame::SetPose ( const cv::Mat &  Tcw)
int ORB_SLAM2::KeyFrame::TrackedMapPoints ( const int &  minObs)
cv::Mat ORB_SLAM2::KeyFrame::UnprojectStereo ( int  i)
void ORB_SLAM2::KeyFrame::UpdateBestCovisibles ( )
void ORB_SLAM2::KeyFrame::UpdateConnections ( )
static bool ORB_SLAM2::KeyFrame::weightComp ( int  a,
int  b 
)
inlinestatic

Definition at line 110 of file KeyFrame.h.

Member Data Documentation

cv::Mat ORB_SLAM2::KeyFrame::Cw
protected

Definition at line 199 of file KeyFrame.h.

const float ORB_SLAM2::KeyFrame::cx

Definition at line 156 of file KeyFrame.h.

const float ORB_SLAM2::KeyFrame::cy

Definition at line 156 of file KeyFrame.h.

const float ORB_SLAM2::KeyFrame::fx

Definition at line 156 of file KeyFrame.h.

const float ORB_SLAM2::KeyFrame::fy

Definition at line 156 of file KeyFrame.h.

const float ORB_SLAM2::KeyFrame::invfx

Definition at line 156 of file KeyFrame.h.

const float ORB_SLAM2::KeyFrame::invfy

Definition at line 156 of file KeyFrame.h.

const float ORB_SLAM2::KeyFrame::mb

Definition at line 156 of file KeyFrame.h.

bool ORB_SLAM2::KeyFrame::mbBad
protected

Definition at line 224 of file KeyFrame.h.

const float ORB_SLAM2::KeyFrame::mbf

Definition at line 156 of file KeyFrame.h.

bool ORB_SLAM2::KeyFrame::mbFirstConnection
protected

Definition at line 216 of file KeyFrame.h.

bool ORB_SLAM2::KeyFrame::mbNotErase
protected

Definition at line 222 of file KeyFrame.h.

DBoW2::BowVector ORB_SLAM2::KeyFrame::mBowVec

Definition at line 169 of file KeyFrame.h.

bool ORB_SLAM2::KeyFrame::mbToBeErased
protected

Definition at line 223 of file KeyFrame.h.

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

Definition at line 211 of file KeyFrame.h.

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

Definition at line 166 of file KeyFrame.h.

DBoW2::FeatureVector ORB_SLAM2::KeyFrame::mFeatVec

Definition at line 170 of file KeyFrame.h.

const float ORB_SLAM2::KeyFrame::mfGridElementHeightInv

Definition at line 132 of file KeyFrame.h.

const float ORB_SLAM2::KeyFrame::mfGridElementWidthInv

Definition at line 131 of file KeyFrame.h.

const float ORB_SLAM2::KeyFrame::mfLogScaleFactor

Definition at line 178 of file KeyFrame.h.

const float ORB_SLAM2::KeyFrame::mfScaleFactor

Definition at line 177 of file KeyFrame.h.

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

Definition at line 209 of file KeyFrame.h.

float ORB_SLAM2::KeyFrame::mHalfBaseline
protected

Definition at line 226 of file KeyFrame.h.

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

Definition at line 188 of file KeyFrame.h.

float ORB_SLAM2::KeyFrame::mLoopScore

Definition at line 145 of file KeyFrame.h.

std::mutex ORB_SLAM2::KeyFrame::mMutexConnections
protected

Definition at line 231 of file KeyFrame.h.

std::mutex ORB_SLAM2::KeyFrame::mMutexFeatures
protected

Definition at line 232 of file KeyFrame.h.

std::mutex ORB_SLAM2::KeyFrame::mMutexPose
protected

Definition at line 230 of file KeyFrame.h.

long unsigned int ORB_SLAM2::KeyFrame::mnBAFixedForKF

Definition at line 140 of file KeyFrame.h.

long unsigned int ORB_SLAM2::KeyFrame::mnBAGlobalForKF

Definition at line 153 of file KeyFrame.h.

long unsigned int ORB_SLAM2::KeyFrame::mnBALocalForKF

Definition at line 139 of file KeyFrame.h.

const long unsigned int ORB_SLAM2::KeyFrame::mnFrameId

Definition at line 124 of file KeyFrame.h.

long unsigned int ORB_SLAM2::KeyFrame::mnFuseTargetForKF

Definition at line 136 of file KeyFrame.h.

const int ORB_SLAM2::KeyFrame::mnGridCols

Definition at line 129 of file KeyFrame.h.

const int ORB_SLAM2::KeyFrame::mnGridRows

Definition at line 130 of file KeyFrame.h.

long unsigned int ORB_SLAM2::KeyFrame::mnId

Definition at line 123 of file KeyFrame.h.

long unsigned int ORB_SLAM2::KeyFrame::mnLoopQuery

Definition at line 143 of file KeyFrame.h.

int ORB_SLAM2::KeyFrame::mnLoopWords

Definition at line 144 of file KeyFrame.h.

const int ORB_SLAM2::KeyFrame::mnMaxX

Definition at line 186 of file KeyFrame.h.

const int ORB_SLAM2::KeyFrame::mnMaxY

Definition at line 187 of file KeyFrame.h.

const int ORB_SLAM2::KeyFrame::mnMinX

Definition at line 184 of file KeyFrame.h.

const int ORB_SLAM2::KeyFrame::mnMinY

Definition at line 185 of file KeyFrame.h.

long unsigned int ORB_SLAM2::KeyFrame::mnRelocQuery

Definition at line 146 of file KeyFrame.h.

int ORB_SLAM2::KeyFrame::mnRelocWords

Definition at line 147 of file KeyFrame.h.

const int ORB_SLAM2::KeyFrame::mnScaleLevels

Definition at line 176 of file KeyFrame.h.

long unsigned int ORB_SLAM2::KeyFrame::mnTrackReferenceForFrame

Definition at line 135 of file KeyFrame.h.

KeyFrameDatabase* ORB_SLAM2::KeyFrame::mpKeyFrameDB
protected

Definition at line 205 of file KeyFrame.h.

Map* ORB_SLAM2::KeyFrame::mpMap
protected

Definition at line 228 of file KeyFrame.h.

ORBVocabulary* ORB_SLAM2::KeyFrame::mpORBvocabulary
protected

Definition at line 206 of file KeyFrame.h.

KeyFrame* ORB_SLAM2::KeyFrame::mpParent
protected

Definition at line 217 of file KeyFrame.h.

float ORB_SLAM2::KeyFrame::mRelocScore

Definition at line 148 of file KeyFrame.h.

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

Definition at line 218 of file KeyFrame.h.

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

Definition at line 219 of file KeyFrame.h.

cv::Mat ORB_SLAM2::KeyFrame::mTcp

Definition at line 173 of file KeyFrame.h.

cv::Mat ORB_SLAM2::KeyFrame::mTcwBefGBA

Definition at line 152 of file KeyFrame.h.

cv::Mat ORB_SLAM2::KeyFrame::mTcwGBA

Definition at line 151 of file KeyFrame.h.

const float ORB_SLAM2::KeyFrame::mThDepth

Definition at line 156 of file KeyFrame.h.

const double ORB_SLAM2::KeyFrame::mTimeStamp

Definition at line 126 of file KeyFrame.h.

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

Definition at line 165 of file KeyFrame.h.

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

Definition at line 181 of file KeyFrame.h.

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

Definition at line 162 of file KeyFrame.h.

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

Definition at line 163 of file KeyFrame.h.

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

Definition at line 180 of file KeyFrame.h.

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

Definition at line 213 of file KeyFrame.h.

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

Definition at line 202 of file KeyFrame.h.

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

Definition at line 212 of file KeyFrame.h.

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

Definition at line 179 of file KeyFrame.h.

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

Definition at line 164 of file KeyFrame.h.

const int ORB_SLAM2::KeyFrame::N

Definition at line 159 of file KeyFrame.h.

long unsigned int ORB_SLAM2::KeyFrame::nNextId
static

Definition at line 122 of file KeyFrame.h.

cv::Mat ORB_SLAM2::KeyFrame::Ow
protected

Definition at line 197 of file KeyFrame.h.

cv::Mat ORB_SLAM2::KeyFrame::Tcw
protected

Definition at line 195 of file KeyFrame.h.

cv::Mat ORB_SLAM2::KeyFrame::Twc
protected

Definition at line 196 of file KeyFrame.h.

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

orb_slam2_with_maps_odom
Author(s): teng zhang
autogenerated on Fri Sep 25 2020 03:24:47