WAIFrame Class Reference

#include <WAIFrame.h>

Public Member Functions
	WAIFrame ()
	WAIFrame (const WAIFrame &frame)
	copy constructor More...
	WAIFrame (const cv::Mat &imGray, const double &timeStamp, KPextractor *extractor, cv::Mat &K, cv::Mat &distCoef, WAIOrbVocabulary *vocabulary, bool retainImg=false)
	constructor used for detection in tracking More...
void	ExtractFeaturePoints (const cv::Mat &im)
void	ComputeBoW ()
void	SetPose (cv::Mat Tcw)
void	UpdatePoseMatrices ()
cv::Mat	GetCameraCenter ()
cv::Mat	GetRotationInverse ()
cv::Mat	GetTranslationCW ()
cv::Mat	GetRotationCW ()
bool	isInFrustum (WAIMapPoint *pMP, float viewingCosLimit)
bool	PosInGrid (const cv::KeyPoint &kp, int &posX, int &posY)
std::vector< size_t >	GetFeaturesInArea (const float &x, const float &y, const float &r, const int minLevel=-1, const int maxLevel=-1) const

Public Attributes
WAIOrbVocabulary *	mVocabulary = NULL
KPextractor *	mpORBextractorLeft = NULL
double	mTimeStamp
cv::Mat	mK
cv::Mat	mDistCoef
int	N = 0
std::vector< cv::KeyPoint >	mvKeys
std::vector< cv::KeyPoint >	mvKeysUn
std::vector< float >	mvuRight
std::vector< float >	mvDepth
WAIBowVector	mBowVec
WAIFeatVector	mFeatVec
cv::Mat	mDescriptors
std::vector< WAIMapPoint * >	mvpMapPoints
std::vector< std::size_t >	mGrid [FRAME_GRID_COLS][FRAME_GRID_ROWS]
cv::Mat	mTcw
long unsigned int	mnId = -1
WAIKeyFrame *	mpReferenceKF = NULL
int	mnScaleLevels
float	mfScaleFactor
float	mfLogScaleFactor
std::vector< float >	mvScaleFactors
std::vector< float >	mvInvScaleFactors
std::vector< float >	mvLevelSigma2
std::vector< float >	mvInvLevelSigma2
cv::Mat	imgGray

Static Public Attributes
static float	fx = 0.0f
static float	fy = 0.0f
static float	cx = 0.0f
static float	cy = 0.0f
static float	invfx = 0.0f
static float	invfy = 0.0f
static float	mfGridElementWidthInv = 0.0f
static float	mfGridElementHeightInv = 0.0f
static long unsigned int	nNextId = 0
static float	mnMinX = 0.0f
static float	mnMaxX = 0.0f
static float	mnMinY = 0.0f
static float	mnMaxY = 0.0f
static bool	mbInitialComputations = true

Private Member Functions
void	UndistortKeyPoints ()
void	ComputeImageBounds (const cv::Mat &imLeft)
void	AssignFeaturesToGrid ()

Private Attributes
cv::Mat	mRcw
cv::Mat	mtcw
cv::Mat	mRwc
cv::Mat	mOw

Constructor & Destructor Documentation

WAIFrame() [1/3]

WAIFrame::WAIFrame

(

)

WAIFrame() [2/3]

WAIFrame::WAIFrame

(

const WAIFrame &

frame

)

copy constructor

WAIFrame() [3/3]

WAIFrame::WAIFrame	(	const cv::Mat &	imGray,
		const double &	timeStamp,
		KPextractor *	extractor,
		cv::Mat &	K,
		cv::Mat &	distCoef,
		WAIOrbVocabulary *	vocabulary,
		bool	retainImg = false
	)

constructor used for detection in tracking

Member Function Documentation

AssignFeaturesToGrid()

void WAIFrame::AssignFeaturesToGrid ( )

private

ComputeBoW()

void WAIFrame::ComputeBoW

(

)

ComputeImageBounds()

void WAIFrame::ComputeImageBounds ( const cv::Mat &  imLeft )

private

ExtractFeaturePoints()

void WAIFrame::ExtractFeaturePoints

(

const cv::Mat &

im

)

GetCameraCenter()

cv::Mat WAIFrame::GetCameraCenter ( )

inline

GetFeaturesInArea()

vector< size_t > WAIFrame::GetFeaturesInArea	(	const float &	x,
		const float &	y,
		const float &	r,
		const int	minLevel = -1,
		const int	maxLevel = -1
	)		const

GetRotationCW()

cv::Mat WAIFrame::GetRotationCW ( )

inline

GetRotationInverse()

cv::Mat WAIFrame::GetRotationInverse ( )

inline

GetTranslationCW()

cv::Mat WAIFrame::GetTranslationCW ( )

inline

isInFrustum()

bool WAIFrame::isInFrustum	(	WAIMapPoint *	pMP,
		float	viewingCosLimit
	)

PosInGrid()

bool WAIFrame::PosInGrid	(	const cv::KeyPoint &	kp,
		int &	posX,
		int &	posY
	)

SetPose()

void WAIFrame::SetPose

(

cv::Mat

Tcw

)

UndistortKeyPoints()

void WAIFrame::UndistortKeyPoints ( )

private

UpdatePoseMatrices()

void WAIFrame::UpdatePoseMatrices

(

)

Member Data Documentation

cx

float WAIFrame::cx = 0.0f

static

cy

float WAIFrame::cy = 0.0f

static

fx

float WAIFrame::fx = 0.0f

static

fy

float WAIFrame::fy = 0.0f

static

imgGray

cv::Mat WAIFrame::imgGray

invfx

float WAIFrame::invfx = 0.0f

static

invfy

float WAIFrame::invfy = 0.0f

static

mbInitialComputations

bool WAIFrame::mbInitialComputations = true

static

mBowVec

WAIBowVector WAIFrame::mBowVec

mDescriptors

cv::Mat WAIFrame::mDescriptors

mDistCoef

cv::Mat WAIFrame::mDistCoef

mFeatVec

WAIFeatVector WAIFrame::mFeatVec

mfGridElementHeightInv

float WAIFrame::mfGridElementHeightInv = 0.0f

static

mfGridElementWidthInv

float WAIFrame::mfGridElementWidthInv = 0.0f

static

mfLogScaleFactor

float WAIFrame::mfLogScaleFactor

mfScaleFactor

float WAIFrame::mfScaleFactor

mGrid

std::vector<std::size_t> WAIFrame::mGrid[FRAME_GRID_COLS][FRAME_GRID_ROWS]

mK

cv::Mat WAIFrame::mK

mnId

long unsigned int WAIFrame::mnId = -1

mnMaxX

float WAIFrame::mnMaxX = 0.0f

static

mnMaxY

float WAIFrame::mnMaxY = 0.0f

static

mnMinX

float WAIFrame::mnMinX = 0.0f

static

mnMinY

float WAIFrame::mnMinY = 0.0f

static

mnScaleLevels

int WAIFrame::mnScaleLevels

mOw

cv::Mat WAIFrame::mOw

private

mpORBextractorLeft

KPextractor* WAIFrame::mpORBextractorLeft = NULL

mpReferenceKF

WAIKeyFrame* WAIFrame::mpReferenceKF = NULL

mRcw

cv::Mat WAIFrame::mRcw

private

mRwc

cv::Mat WAIFrame::mRwc

private

mTcw

cv::Mat WAIFrame::mTcw

mtcw

cv::Mat WAIFrame::mtcw

private

mTimeStamp

double WAIFrame::mTimeStamp

mvDepth

std::vector<float> WAIFrame::mvDepth

mvInvLevelSigma2

std::vector<float> WAIFrame::mvInvLevelSigma2

mvInvScaleFactors

std::vector<float> WAIFrame::mvInvScaleFactors

mvKeys

std::vector<cv::KeyPoint> WAIFrame::mvKeys

mvKeysUn

std::vector<cv::KeyPoint> WAIFrame::mvKeysUn

mvLevelSigma2

std::vector<float> WAIFrame::mvLevelSigma2

mVocabulary

WAIOrbVocabulary* WAIFrame::mVocabulary = NULL

mvpMapPoints

std::vector<WAIMapPoint*> WAIFrame::mvpMapPoints

mvScaleFactors

std::vector<float> WAIFrame::mvScaleFactors

mvuRight

std::vector<float> WAIFrame::mvuRight

N

int WAIFrame::N = 0

nNextId

long unsigned int WAIFrame::nNextId = 0

static

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

• WAIFrame.h
• WAIFrame.cpp