WAIKeyFrame(const cv::Mat &Tcw, unsigned long id, bool fixKF, float fx, float fy, float cx, float cy, size_t N, const std::vector< cv::KeyPoint > &vKeysUn, const cv::Mat &descriptors, WAIOrbVocabulary *vocabulary, int nScaleLevels, float fScaleFactor, const std::vector< float > &vScaleFactors, const std::vector< float > &vLevelSigma2, const std::vector< float > &vInvLevelSigma2, int nMinX, int nMinY, int nMaxX, int nMaxY, const cv::Mat &KB) | WAIKeyFrame | |