Public Member Functions | Protected Member Functions | Private Attributes
slam::Frame Class Reference

#include <frame.h>

List of all members.

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

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

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.

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.

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.

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:
listof keypoints
querykeypoint
maximumdistance 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:
vectorof 3D points

Definition at line 88 of file frame.h.

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

Set camera pose.

Parameters:
camerapose

Definition at line 93 of file frame.h.

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

Set frame id.

Parameters:
vectorof 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:
numberof 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:
vectorof descriptors

Definition at line 74 of file frame.h.

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

Set left keypoints.

Parameters:
vectorof 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.

> 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.

> 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.

> 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:


stereo_slam
Author(s): Pep Lluis Negre
autogenerated on Thu Jun 6 2019 21:40:57