Represents a single image frame with extracted features and pose information. More...

Inheritance diagram for Frame:

Collaboration diagram for Frame:

Public Member Functions
	Frame ()=default
	Default constructor.
	Frame (const Frame &frame)
	Copy constructor.
	Frame (Frame &&frame) noexcept
	Move constructor.
	Frame (FrameInfo frame_info, const cv::Mat &imGray, const cv::Mat &imDepth, fltp08 timeStamp, ORBextractor extractor, ORBVocabulary *voc, const IMU::Calib &ImuCalib=IMU::Calib())
	Constructor for RGB-D cameras.
	Frame (FrameInfo frame_info, const cv::Mat &imGray, fltp08 timeStamp, ORBextractor extractor, ORBVocabulary *voc, const IMU::Calib &ImuCalib=IMU::Calib())
	Constructor for monocular cameras.
	Frame (FrameInfo frame_info, const cv::Mat &imLeft, const cv::Mat &imRight, fltp08 timeStamp, ORBextractor extractorLeft, ORBextractor extractorRight, ORBVocabulary voc, const IMU::Calib &ImuCalib=IMU::Calib())
	Constructor for stereo cameras.
	Frame (FrameInfo frame_info, const cv::Mat &imLeft, const cv::Mat &imRight, fltp08 timeStamp, ORBextractor extractorLeft, ORBextractor extractorRight, ORBVocabulary voc, GeometricCamera *pCamera2, Sophus::SE3< g_type > &Tlr, const IMU::Calib &ImuCalib=IMU::Calib())
	Constructor for stereo cameras with a second camera model.
	~Frame ()
	Destructor.
const BowVector &	bow () const
	Returns the Bag of Words vector.
const Eigen::Vector3< g_type > &	cameraCenter () const
	Returns the camera center in world coordinates.
Eigen::Matrix3< g_type >	cameraRotation () const
	Returns the world-to-camera rotation (inverse rotation).
void	clearBoW ()
	Clears the Bag of Words data.
void	clearMapPoints ()
	Clears all map point associations.
void	computeBoW ()
	Computes the Bag of Words representation for this frame.
void	ComputeStereoFishEyeMatches ()
	Computes stereo matches for fisheye cameras.
void	computeStereoFromRGBD (const cv::Mat &imDepth)
	Associates depth-derived right coordinates to keypoints from an RGB-D depthmap.
void	computeStereoMatches ()
	Searches stereo matches between left and right keypoints.
fltp04	depth (uint04 idx) const
	Returns the depth at the given keypoint index.
Vector< 2, uint04 >	discardOutliers ()
	Discards outlier map point associations.
void	eraseMapPointMatch (uint04)
	Removes a map point association at the given index.
void	extractORB (uint01 flag, const cv::Mat &im, uint04 x0, uint04 x1)
	Extracts ORB features from the image.
const Dictionary< uint04, Buffer< uint04 > > &	featureIndices () const
	Returns the feature index map (word ID to keypoint indices).
void	getFeaturesInArea (Buffer< uint04 > &indices, fltp04 x, fltp04 y, fltp04 r, uint04 min_level=0U, uint04 max_level=Constant< uint04 >::Max, const bool bRight=false) const
	Finds features within a circular area in the image.
virtual Eigen::Matrix< g_type, 3, 1 >	GetImuPosition () const
	Returns the IMU position in world coordinates.
virtual Eigen::Matrix< g_type, 3, 3 >	GetImuRotation () const
	Returns the IMU rotation matrix.
Sophus::SE3< g_type >	GetRelativePoseTlr () const
	Returns the relative pose from left to right camera.
Eigen::Matrix3< g_type >	GetRelativePoseTlr_rotation () const
	Returns the rotation component of the left-to-right relative pose.
Eigen::Vector3< g_type >	GetRelativePoseTlr_translation () const
	Returns the translation component of the left-to-right relative pose.
Sophus::SE3< g_type >	GetRelativePoseTrl () const
	Returns the relative pose from right to left camera.
virtual Eigen::Matrix3< g_type >	GetRotation () const
	Returns the camera rotation matrix (camera-to-world).
virtual Eigen::Vector3< g_type >	GetTranslation () const
	Returns the camera translation vector (camera-to-world).
bool	hasCamera (uint01 index) const
	Checks whether a camera at the given index is available.
bool	HasPose () const
	Checks whether a valid pose has been set.
bool	HasVelocity () const
	Checks whether a valid velocity has been set.
bool	imuIsPreintegrated () const
	Checks whether the IMU preintegration is complete.
virtual Sophus::SE3< g_type >	imuPose () const
	Returns the IMU pose as an SE3 transform.
const FrameInfo &	info () const
	Returns the shared frame info.
void	init (FrameInfo info, const cv::Mat &imGray, const cv::Mat &imDepth, fltp08 timeStamp, ORBextractor extractor, ORBVocabulary *voc, const IMU::Calib &ImuCalib=IMU::Calib())
	Initializes a frame from RGB-D data.
Eigen::Vector3< g_type >	inRefCoordinates (Eigen::Vector3< g_type > pCw) const
	Transforms a world-coordinate point into this frame's camera coordinates.
virtual Sophus::SE3< g_type >	inversePose () const
	Returns the inverse camera pose (camera-to-world transform).
const Buffer< float > &	invLevelSigma2 () const
	Returns the inverse sigma squared values per pyramid level.
const Buffer< float > &	invScaleFactors () const
	Returns the inverse ORB scale factors per pyramid level.
bool	isKeyFrame ()
	Checks whether this frame is a keyframe.
bool	isMono () const
	Checks whether this frame is monocular (single camera).
bool	isOutlier (uint04 idx) const
	Checks whether the map point at the given index is an outlier.
bool	isSet () const
	Checks whether this frame has been initialized.
const cv::KeyPoint &	keypoint (uint04 i) const
	Returns the keypoint at the given index.
const cv::KeyPoint &	keypoint (uint04 i, bool is_right) const
	Returns the keypoint at the given index from left or right view.
uint04	levelCount () const
	Returns the number of pyramid levels.
const Buffer< float > &	levelSigma2 () const
	Returns the sigma squared values per pyramid level.
virtual Eigen::Vector3< g_type >	linearVelocity () const
	Returns the linear velocity of the frame.
LogPtr	log ()
	Returns the logger for this frame.
MapPoint *	mapPoint (uint04 idx)
	Returns the map point at the given index (non-const).
MapPoint *	mapPoint (uint04 idx) const
	Returns the map point at the given index.
uint04	mapPointCount () const
	Returns the number of map points associated with this frame.
const Buffer< MapPoint * > &	mapPointMatches ()
	Returns the map point matches buffer.
const Buffer< MapPoint * > &	mapPoints () const
	Returns all map point associations.
RWLock &	mapPointsLockPtr () const
	Returns the read-write lock for map point access.
fltp04	nearFarThreshold () const
	Returns the near/far depth threshold.
uint04	observationCount (uint04 idx) const
	Returns the observation count for a map point at the given index.
Frame &	operator= (const Frame &frame) noexcept
	Copy assignment operator.
Frame &	operator= (Frame &&frame) noexcept
	Move assignment operator.
const Buffer< bool > &	outliers () const
	Returns the outlier flags buffer.
virtual Sophus::SE3< g_type >	pose () const
	Returns the camera pose (world-to-camera transform).
fltp04	right (uint04 idx) const
	Returns the right stereo coordinate at the given keypoint index.
fltp04	scaleFactor () const
	Returns the ORB scale factor.
const Buffer< float > &	scaleFactors () const
	Returns the ORB scale factors per pyramid level.
void	setImuPoseVelocity (const Eigen::Matrix3< g_type > &Rwb, const Eigen::Vector3< g_type > &twb, const Eigen::Vector3< g_type > &Vwb)
	Sets IMU pose and velocity, implicitly updating the camera pose.
void	setIntegrated ()
	Marks the IMU preintegration as complete.
virtual void	setLinearVelocity (const Eigen::Vector3< g_type > &Vw)
	Sets the IMU linear velocity.
void	setMapPointMatch (uint04, MapPoint *pMP)
	Sets a map point association at the given index.
void	setMapPoints (const Buffer< MapPoint * > &map_points)
	Sets all map point associations.
void	SetNewBias (const IMU::Bias &b)
	Updates the IMU bias.
void	setOutlier (uint04 idx, bool outlier)
	Sets the outlier flag at the given index.
void	setOutliers (const Buffer< bool > &map_points)
	Sets the outlier flags buffer.
virtual void	setPose (const Sophus::SE3< g_type > &Tcw)
	Sets the camera pose (does not modify IMU pose).
Eigen::Vector3< g_type >	stereo3DPoint (uint04 idx) const
	Returns the triangulated 3D stereo point at the given index.
const Eigen::Matrix< g_type, 3, 1 > &	tcw () const
	Returns the camera-to-world translation.
fltp08	timestamp () const
	Returns the capture timestamp.
fltp04	trackDepth (const Eigen::Vector3< g_type > &global_position) const
	Computes the depth of a 3D point relative to this frame's camera.
uint04	trackedMapPoints (uint04 minObs) const
	Counts map points with at least the given number of observations.
const cv::KeyPoint &	undistortedPoint (uint04 idx) const
	Returns the undistorted keypoint at the given index.
uint04	undistortedPointCount () const
	Returns the number of undistorted keypoints.
const PrimitiveAlignedBuffer< cv::KeyPoint, 32 > &	undistortedPoints () const
	Returns all undistorted keypoints.
Eigen::Vector3< g_type >	unproject (uint04 i)
	Backprojects a keypoint into 3D world coordinates using stereo/depth info.
void	updatePoseMatrices ()
	Recomputes derived pose matrices from the current camera pose.

Public Attributes
uint04	id = Constant<uint04>::Invalid
	Unique frame ID.
IMUData	imu_data
	IMU calibration and bias data.
ORBextractor *	m_extractor
	ORB feature extractor.
Dictionary< uint04, Buffer< uint04 > >	m_features_indices
	Maps BoW word IDs to keypoint indices.
FrameInfo *	m_frame_info = nullptr
	Shared camera info (intrinsics, bounds).
bool	m_is_keyframe = false
	Whether this frame is a keyframe.
fltp08	m_timestamp = 0.0
	Frame capture timestamp.
FrameView *	m_view [2] = { nullptr, nullptr }
	Left [0] and right [1] view data.
bool	mbHasPose = false
	Whether a valid pose has been set.
bool	mbHasVelocity = false
	Whether a valid velocity has been set.
bool	mbImuPreintegrated = false
	Whether IMU preintegration is complete.
bool	mbIsSet = false
	Whether this frame has been initialized.
Eigen::Vector3< g_type >	mOwb
	IMU position in world coordinates.
ConstraintPoseImu *	mpcpi = nullptr
	IMU pose constraint.
IMU::Preintegrated *	mpImuPreintegrated = nullptr
	IMU preintegration from last keyframe.
IMU::Preintegrated *	mpImuPreintegratedFrame = nullptr
	Frame-level IMU preintegration.
KeyFrame *	mpLastKeyFrame = nullptr
	Previous keyframe.
ORBVocabulary *	mpORBvocabulary = nullptr
	ORB vocabulary for relocalization.
KeyFrame *	mpReferenceKF = nullptr
	Reference keyframe.
uint04	N = 0
	Number of keypoints.
Sophus::SE3< g_type >	sensor_pose
	External sensor pose.

Static Public Attributes
static cv::BFMatcher	BFmatcher
	Brute-force matcher for stereo fisheye matching.
static volatile uint04	s_next_id
	Global frame ID counter.
static __attribute__((visibility("default"))) static void Set3DCallback(std std::function< Vector< 3, fltp04 >(Frame *frame, Vector< 3, fltp04 >)	s_point_to_3d_callback )
	Sets a callback for converting frame points to 3D.

Protected Attributes
BowVector	m_bow
	Bag of Words vector for this frame.
Buffer< fltp04 >	m_depth
	Depth per keypoint.
RWLock	m_feature_lock
	Read-write lock for map point access.
Eigen::Vector3< g_type >	m_linear_velocity = Eigen::Vector3<g_type>(0,0,0)
	IMU linear velocity.
Buffer< MapPoint * >	m_map_points
	Map point associations for each keypoint.
Buffer< Vector< 2, fltp04 > >	m_original_points
	Original (possibly distorted) keypoint positions.
Buffer< bool >	m_outlier
	Outlier flag per keypoint.
Buffer< fltp04 >	m_right
	Right stereo coordinate per keypoint (negative if monocular).
Buffer< Eigen::Vector3< g_type > >	m_stereo_3D_points
	Triangulated stereo 3D points from fisheye matching.
PrimitiveAlignedBuffer< cv::KeyPoint, 32 >	m_undistorted_points
	Undistorted keypoints used by the system.
Sophus::SE3< g_type >	mTcw
	World-to-camera transform.
Sophus::SE3< g_type >	mTlr
	Left-to-right camera relative pose.
Sophus::SE3< g_type >	mTrl
	Right-to-left camera relative pose.
Sophus::SE3< g_type >	mTwc
	Camera-to-world transform (inverse of mTcw).

Detailed Description

Represents a single image frame with extracted features and pose information.

A Frame holds keypoints, descriptors, map point associations, and camera pose for a single captured image. It supports monocular, stereo, and RGB-D configurations.

Definition at line 110 of file Frame.h.

Constructor & Destructor Documentation

◆ Frame() [1/6]

Frame::Frame ( const Frame & frame )

Copy constructor.

Parameters

[in] frame Frame to copy.

References Frame().

◆ Frame() [2/6]

Frame::Frame ( Frame && frame )

noexcept

Move constructor.

Parameters

[in] frame Frame to move from.

References Frame().

◆ Frame() [3/6]

Frame::Frame	(	FrameInfo *	frame_info,
		const cv::Mat &	imLeft,
		const cv::Mat &	imRight,
		fltp08	timeStamp,
		ORBextractor *	extractorLeft,
		ORBextractor *	extractorRight,
		ORBVocabulary *	voc,
		const IMU::Calib &	ImuCalib = IMU::Calib() )

Constructor for stereo cameras.

Parameters

[in]	frame_info	Shared camera info.
[in]	imLeft	Left image (grayscale or RGB).
[in]	imRight	Right image.
[in]	timeStamp	Capture timestamp.
[in]	extractorLeft	ORB extractor for the left image.
[in]	extractorRight	ORB extractor for the right image.
[in]	voc	ORB vocabulary for BoW.
[in]	ImuCalib	IMU calibration (optional).

◆ Frame() [4/6]

Frame::Frame	(	FrameInfo *	frame_info,
		const cv::Mat &	imLeft,
		const cv::Mat &	imRight,
		fltp08	timeStamp,
		ORBextractor *	extractorLeft,
		ORBextractor *	extractorRight,
		ORBVocabulary *	voc,
		GeometricCamera *	pCamera2,
		Sophus::SE3< g_type > &	Tlr,
		const IMU::Calib &	ImuCalib = IMU::Calib() )

Constructor for stereo cameras with a second camera model.

Parameters

[in]	frame_info	Shared camera info.
[in]	imLeft	Left image.
[in]	imRight	Right image.
[in]	timeStamp	Capture timestamp.
[in]	extractorLeft	ORB extractor for the left image.
[in]	extractorRight	ORB extractor for the right image.
[in]	voc	ORB vocabulary for BoW.
[in]	pCamera2	Second camera model for fisheye stereo.
[in]	Tlr	Relative pose from left to right camera.
[in]	ImuCalib	IMU calibration (optional).

◆ Frame() [5/6]

Frame::Frame	(	FrameInfo *	frame_info,
		const cv::Mat &	imGray,
		const cv::Mat &	imDepth,
		fltp08	timeStamp,
		ORBextractor *	extractor,
		ORBVocabulary *	voc,
		const IMU::Calib &	ImuCalib = IMU::Calib() )

Constructor for RGB-D cameras.

Parameters

[in]	frame_info	Shared camera info.
[in]	imGray	Grayscale image.
[in]	imDepth	Depth image (CV_32F).
[in]	timeStamp	Capture timestamp.
[in]	extractor	ORB feature extractor.
[in]	voc	ORB vocabulary for BoW.
[in]	ImuCalib	IMU calibration (optional).

◆ Frame() [6/6]

Frame::Frame	(	FrameInfo *	frame_info,
		const cv::Mat &	imGray,
		fltp08	timeStamp,
		ORBextractor *	extractor,
		ORBVocabulary *	voc,
		const IMU::Calib &	ImuCalib = IMU::Calib() )

Constructor for monocular cameras.

Parameters

[in]	frame_info	Shared camera info.
[in]	imGray	Grayscale image.
[in]	timeStamp	Capture timestamp.
[in]	extractor	ORB feature extractor.
[in]	voc	ORB vocabulary for BoW.
[in]	ImuCalib	IMU calibration (optional).

Member Function Documentation

◆ bow()

const BowVector & Frame::bow ( ) const

inline

Returns the Bag of Words vector.

Returns: Reference to the BoW vector.

Definition at line 535 of file Frame.h.

References m_bow.

◆ cameraCenter()

const Eigen::Vector3< g_type > & Frame::cameraCenter ( ) const

inline

Returns the camera center in world coordinates.

Returns: The 3D camera center.

Definition at line 379 of file Frame.h.

References mTwc.

Referenced by MapPointProjection::checkInFrustum(), and MapPointProjection::isInFrustumChecks().

◆ cameraRotation()

Eigen::Matrix3< g_type > Frame::cameraRotation ( ) const

inline

Returns the world-to-camera rotation (inverse rotation).

Returns: The 3x3 rotation matrix.

Definition at line 391 of file Frame.h.

References mTwc.

◆ computeStereoFromRGBD()

void Frame::computeStereoFromRGBD ( const cv::Mat & imDepth )

Associates depth-derived right coordinates to keypoints from an RGB-D depthmap.

Parameters

[in] imDepth The depth image.

◆ computeStereoMatches()

void Frame::computeStereoMatches ( )

Searches stereo matches between left and right keypoints.

For each matched keypoint, depth and right coordinate are computed and stored.

◆ depth()

fltp04 Frame::depth ( uint04 idx ) const

inline

Returns the depth at the given keypoint index.

Parameters

[in] idx Keypoint index.

Returns: The depth value.

Definition at line 437 of file Frame.h.

References m_depth.

◆ discardOutliers()

Vector< 2, uint04 > Frame::discardOutliers ( )

Discards outlier map point associations.

Returns: Vector of (inlier count, outlier count).

◆ eraseMapPointMatch()

void Frame::eraseMapPointMatch ( uint04 )

Removes a map point association at the given index.

Parameters

[in] idx Keypoint index.

◆ extractORB()

void Frame::extractORB	(	uint01	flag,
		const cv::Mat &	im,
		uint04	x0,
		uint04	x1 )

Extracts ORB features from the image.

Parameters

[in]	flag	0 for left image, 1 for right image.
[in]	im	The image to extract from.
[in]	x0	Start column for the lapping area.
[in]	x1	End column for the lapping area.

◆ featureIndices()

const Dictionary< uint04, Buffer< uint04 > > & Frame::featureIndices ( ) const

inline

Returns the feature index map (word ID to keypoint indices).

Returns: Reference to the feature indices dictionary.

Definition at line 539 of file Frame.h.

References m_features_indices.

◆ getFeaturesInArea()

void Frame::getFeaturesInArea	(	Buffer< uint04 > &	indices,
		fltp04	x,
		fltp04	y,
		fltp04	r,
		uint04	min_level = 0U,
		uint04	max_level = Constant< uint04 >::Max,
		const bool	bRight = false ) const

Finds features within a circular area in the image.

Parameters

[out]	indices	Buffer to fill with matching keypoint indices.
[in]	x	Center x coordinate.
[in]	y	Center y coordinate.
[in]	r	Search radius.
[in]	min_level	Minimum pyramid level (default 0).
[in]	max_level	Maximum pyramid level (default max).
[in]	bRight	True to search in the right view.

◆ GetImuPosition()

virtual Eigen::Matrix< g_type, 3, 1 > Frame::GetImuPosition ( ) const

virtual

Returns the IMU position in world coordinates.

Returns: The 3D IMU position.

Reimplemented in KeyFrame.

◆ GetImuRotation()

virtual Eigen::Matrix< g_type, 3, 3 > Frame::GetImuRotation ( ) const

virtual

Returns the IMU rotation matrix.

Returns: The 3x3 IMU rotation.

Reimplemented in KeyFrame.

◆ GetRelativePoseTlr()

Sophus::SE3< g_type > Frame::GetRelativePoseTlr ( ) const

Returns the relative pose from left to right camera.

Returns: The SE3 transform Tlr.

◆ GetRelativePoseTlr_rotation()

Eigen::Matrix3< g_type > Frame::GetRelativePoseTlr_rotation ( ) const

Returns the rotation component of the left-to-right relative pose.

Returns: The 3x3 rotation matrix.

◆ GetRelativePoseTlr_translation()

Eigen::Vector3< g_type > Frame::GetRelativePoseTlr_translation ( ) const

Returns the translation component of the left-to-right relative pose.

Returns: The 3D translation vector.

Referenced by MapPointProjection::isInFrustumChecks().

◆ GetRelativePoseTrl()

Sophus::SE3< g_type > Frame::GetRelativePoseTrl ( ) const

Returns the relative pose from right to left camera.

Returns: The SE3 transform Trl.

Referenced by MapPointProjection::isInFrustumChecks().

◆ GetRotation()

virtual Eigen::Matrix3< g_type > Frame::GetRotation ( ) const

virtual

Returns the camera rotation matrix (camera-to-world).

Returns: The 3x3 rotation matrix.

Reimplemented in KeyFrame.

Referenced by MapPointProjection::isInFrustumChecks().

◆ GetTranslation()

virtual Eigen::Vector3< g_type > Frame::GetTranslation ( ) const

virtual

Returns the camera translation vector (camera-to-world).

Returns: The 3D translation vector.

Reimplemented in KeyFrame.

◆ hasCamera()

bool Frame::hasCamera ( uint01 index ) const

Checks whether a camera at the given index is available.

Parameters

[in] index Camera index (0 or 1).

Returns: True if the camera exists.

◆ HasPose()

bool Frame::HasPose ( ) const

inline

Checks whether a valid pose has been set.

Returns: True if the pose is available.

Definition at line 414 of file Frame.h.

References mbHasPose.

◆ HasVelocity()

bool Frame::HasVelocity ( ) const

inline

Checks whether a valid velocity has been set.

Returns: True if velocity is available.

Definition at line 421 of file Frame.h.

References mbHasVelocity.

◆ imuIsPreintegrated()

bool Frame::imuIsPreintegrated ( ) const

Checks whether the IMU preintegration is complete.

Returns: True if preintegrated.

◆ imuPose()

virtual Sophus::SE3< g_type > Frame::imuPose ( ) const

virtual

Returns the IMU pose as an SE3 transform.

Returns: The IMU pose.

Reimplemented in KeyFrame.

◆ info()

const FrameInfo & Frame::info ( ) const

inline

Returns the shared frame info.

Returns: Reference to the FrameInfo.

Definition at line 527 of file Frame.h.

References m_frame_info.

Referenced by MapPointProjection::checkInFrustum(), init(), and MapPointProjection::isInFrustumChecks().

◆ init()

void Frame::init	(	FrameInfo *	info,
		const cv::Mat &	imGray,
		const cv::Mat &	imDepth,
		fltp08	timeStamp,
		ORBextractor *	extractor,
		ORBVocabulary *	voc,
		const IMU::Calib &	ImuCalib = IMU::Calib() )

Initializes a frame from RGB-D data.

Parameters

[in]	info	Shared camera info.
[in]	imGray	Grayscale image.
[in]	imDepth	Depth image.
[in]	timeStamp	Capture timestamp.
[in]	extractor	ORB feature extractor.
[in]	voc	ORB vocabulary.
[in]	ImuCalib	IMU calibration (optional).

References info().

◆ inRefCoordinates()

Eigen::Vector3< g_type > Frame::inRefCoordinates ( Eigen::Vector3< g_type > pCw ) const

Transforms a world-coordinate point into this frame's camera coordinates.

Parameters

[in] pCw Point in world coordinates.

Returns: Point in camera coordinates.

Referenced by MapPointProjection::checkInFrustum().

◆ inversePose()

virtual Sophus::SE3< g_type > Frame::inversePose ( ) const

inlinevirtual

Returns the inverse camera pose (camera-to-world transform).

Returns: The SE3 pose Twc.

Reimplemented in KeyFrame.

Definition at line 408 of file Frame.h.

References mTwc.

◆ invLevelSigma2()

const Buffer< float > & Frame::invLevelSigma2 ( ) const

Returns the inverse sigma squared values per pyramid level.

Returns: Reference to the inverse level sigma squared buffer.

◆ invScaleFactors()

const Buffer< float > & Frame::invScaleFactors ( ) const

Returns the inverse ORB scale factors per pyramid level.

Returns: Reference to the inverse scale factor buffer.

◆ isKeyFrame()

bool Frame::isKeyFrame ( )

inline

Checks whether this frame is a keyframe.

Returns: True if this frame is a keyframe.

Definition at line 398 of file Frame.h.

References m_is_keyframe.

◆ isMono()

bool Frame::isMono ( ) const

Checks whether this frame is monocular (single camera).

Returns: True if monocular.

◆ isOutlier()

bool Frame::isOutlier ( uint04 idx ) const

inline

Checks whether the map point at the given index is an outlier.

Parameters

[in] idx Keypoint index.

Returns: True if outlier.

Definition at line 470 of file Frame.h.

References m_outlier.

◆ isSet()

bool Frame::isSet ( ) const

inline

Checks whether this frame has been initialized.

Returns: True if set.

Definition at line 371 of file Frame.h.

References mbIsSet.

◆ keypoint() [1/2]

const cv::KeyPoint & Frame::keypoint ( uint04 i ) const

Returns the keypoint at the given index.

Parameters

[in] i Keypoint index.

Returns: Reference to the keypoint.

◆ keypoint() [2/2]

const cv::KeyPoint & Frame::keypoint	(	uint04	i,
		bool	is_right ) const

Returns the keypoint at the given index from left or right view.

Parameters

[in]	i	Keypoint index.
[in]	is_right	True for right view keypoints.

Returns: Reference to the keypoint.

◆ levelCount()

uint04 Frame::levelCount ( ) const

Returns the number of pyramid levels.

Returns: Level count.

◆ levelSigma2()

const Buffer< float > & Frame::levelSigma2 ( ) const

Returns the sigma squared values per pyramid level.

Returns: Reference to the level sigma squared buffer.

◆ linearVelocity()

virtual Eigen::Vector3< g_type > Frame::linearVelocity ( ) const

virtual

Returns the linear velocity of the frame.

Returns: The 3D velocity vector.

Reimplemented in KeyFrame.

◆ log()

LogPtr Frame::log ( )

inline

Returns the logger for this frame.

Returns: Logger pointer.

Definition at line 446 of file Frame.h.

References m_frame_info.

◆ mapPoint() [1/2]

MapPoint * Frame::mapPoint ( uint04 idx )

Returns the map point at the given index (non-const).

Parameters

[in] idx Keypoint index.

Returns: Pointer to the map point.

◆ mapPoint() [2/2]

MapPoint * Frame::mapPoint ( uint04 idx ) const

inline

Returns the map point at the given index.

Parameters

[in] idx Map point index.

Returns: Pointer to the map point.

Definition at line 267 of file Frame.h.

References m_map_points.

◆ mapPointCount()

uint04 Frame::mapPointCount ( ) const

inline

Returns the number of map points associated with this frame.

Returns: Map point count.

Definition at line 262 of file Frame.h.

References m_map_points.

◆ mapPointMatches()

const Buffer< MapPoint * > & Frame::mapPointMatches ( )

Returns the map point matches buffer.

Returns: Reference to the map point matches.

◆ mapPoints()

const Buffer< MapPoint * > & Frame::mapPoints ( ) const

inline

Returns all map point associations.

Returns: Reference to the map points buffer.

Definition at line 453 of file Frame.h.

References m_map_points.

◆ mapPointsLockPtr()

RWLock & Frame::mapPointsLockPtr ( ) const

inline

Returns the read-write lock for map point access.

Returns: Reference to the feature lock.

Definition at line 427 of file Frame.h.

References m_feature_lock.

◆ nearFarThreshold()

fltp04 Frame::nearFarThreshold ( ) const

inline

Returns the near/far depth threshold.

Returns: The depth threshold.

Definition at line 523 of file Frame.h.

References m_frame_info.

◆ observationCount()

uint04 Frame::observationCount ( uint04 idx ) const

Returns the observation count for a map point at the given index.

Parameters

[in] idx Map point index.

Returns: Number of observations.

◆ operator=() [1/2]

Frame & Frame::operator= ( const Frame & frame )

noexcept

Copy assignment operator.

Parameters

[in] frame Frame to copy.

Returns: Reference to this frame.

References Frame().

◆ operator=() [2/2]

Frame & Frame::operator= ( Frame && frame )

noexcept

Move assignment operator.

Parameters

[in] frame Frame to move from.

Returns: Reference to this frame.

References Frame().

◆ outliers()

const Buffer< bool > & Frame::outliers ( ) const

inline

Returns the outlier flags buffer.

Returns: Reference to the outlier buffer.

Definition at line 461 of file Frame.h.

References m_outlier.

◆ pose()

virtual Sophus::SE3< g_type > Frame::pose ( ) const

inlinevirtual

Returns the camera pose (world-to-camera transform).

Returns: The SE3 pose Tcw.

Reimplemented in KeyFrame.

Definition at line 402 of file Frame.h.

References mTcw.

◆ right()

fltp04 Frame::right ( uint04 idx ) const

inline

Returns the right stereo coordinate at the given keypoint index.

Parameters

[in] idx Keypoint index.

Returns: The right coordinate (negative if monocular).

Definition at line 442 of file Frame.h.

References m_right.

◆ scaleFactor()

fltp04 Frame::scaleFactor ( ) const

Returns the ORB scale factor.

Returns: The scale factor.

◆ scaleFactors()

const Buffer< float > & Frame::scaleFactors ( ) const

Returns the ORB scale factors per pyramid level.

Returns: Reference to the scale factor buffer.

◆ setImuPoseVelocity()

void Frame::setImuPoseVelocity	(	const Eigen::Matrix3< g_type > &	Rwb,
		const Eigen::Vector3< g_type > &	twb,
		const Eigen::Vector3< g_type > &	Vwb )

Sets IMU pose and velocity, implicitly updating the camera pose.

Parameters

[in]	Rwb	Rotation from body to world.
[in]	twb	Translation from body to world.
[in]	Vwb	Velocity in world coordinates.

◆ setLinearVelocity()

virtual void Frame::setLinearVelocity ( const Eigen::Vector3< g_type > & Vw )

virtual

Sets the IMU linear velocity.

Parameters

[in] Vw Velocity vector in world coordinates.

Reimplemented in KeyFrame.

◆ setMapPointMatch()

void Frame::setMapPointMatch	(	uint04	,
		MapPoint *	pMP )

Sets a map point association at the given index.

Parameters

[in]	idx	Keypoint index.
[in]	pMP	Pointer to the map point.

◆ setMapPoints()

void Frame::setMapPoints ( const Buffer< MapPoint * > & map_points )

inline

Sets all map point associations.

Parameters

[in] map_points Buffer of map point pointers.

Definition at line 457 of file Frame.h.

References m_map_points.

◆ SetNewBias()

void Frame::SetNewBias ( const IMU::Bias & b )

Updates the IMU bias.

Parameters

[in] b New IMU bias.

◆ setOutlier()

void Frame::setOutlier	(	uint04	idx,
		bool	outlier )

Sets the outlier flag at the given index.

Parameters

[in]	idx	Keypoint index.
[in]	outlier	True to mark as outlier.

◆ setOutliers()

void Frame::setOutliers ( const Buffer< bool > & map_points )

inline

Sets the outlier flags buffer.

Parameters

[in] map_points Buffer of outlier flags.

Definition at line 465 of file Frame.h.

References m_outlier.

◆ setPose()

virtual void Frame::setPose ( const Sophus::SE3< g_type > & Tcw )

virtual

Sets the camera pose (does not modify IMU pose).

Parameters

[in] Tcw Camera-to-world transformation.

Reimplemented in KeyFrame.

◆ stereo3DPoint()

Eigen::Vector3< g_type > Frame::stereo3DPoint ( uint04 idx ) const

Returns the triangulated 3D stereo point at the given index.

Parameters

[in] idx Keypoint index.

Returns: The 3D point.

◆ tcw()

const Eigen::Matrix< g_type, 3, 1 > & Frame::tcw ( ) const

inline

Returns the camera-to-world translation.

Returns: The 3D translation vector.

Definition at line 385 of file Frame.h.

References mTcw.

Referenced by MapPointProjection::isInFrustumChecks().

◆ timestamp()

fltp08 Frame::timestamp ( ) const

inline

Returns the capture timestamp.

Returns: The timestamp.

Definition at line 531 of file Frame.h.

References m_timestamp.

◆ trackDepth()

fltp04 Frame::trackDepth ( const Eigen::Vector3< g_type > & global_position ) const

Computes the depth of a 3D point relative to this frame's camera.

Parameters

[in] global_position The 3D point in world coordinates.

Returns: The depth value.

◆ trackedMapPoints()

uint04 Frame::trackedMapPoints ( uint04 minObs ) const

Counts map points with at least the given number of observations.

Parameters

[in] minObs Minimum observation count threshold.

Returns: Number of tracked map points.

◆ undistortedPoint()

const cv::KeyPoint & Frame::undistortedPoint ( uint04 idx ) const

inline

Returns the undistorted keypoint at the given index.

Parameters

[in] idx Keypoint index.

Returns: Reference to the keypoint.

Definition at line 345 of file Frame.h.

References m_undistorted_points.

◆ undistortedPointCount()

uint04 Frame::undistortedPointCount ( ) const

inline

Returns the number of undistorted keypoints.

Returns: Keypoint count.

Definition at line 349 of file Frame.h.

References m_undistorted_points.

◆ undistortedPoints()

const PrimitiveAlignedBuffer< cv::KeyPoint, 32 > & Frame::undistortedPoints ( ) const

inline

Returns all undistorted keypoints.

Returns: Reference to the undistorted keypoint buffer.

Definition at line 340 of file Frame.h.

References m_undistorted_points.

◆ unproject()

Eigen::Vector3< g_type > Frame::unproject ( uint04 i )

Backprojects a keypoint into 3D world coordinates using stereo/depth info.

Parameters

[in] i Keypoint index.

Returns: The 3D world coordinate.

Member Data Documentation

◆ s_point_to_3d_callback

__attribute__ ((visibility("default"))) static void Set3DCallback(std std::function<Vector<3, fltp04>(Frame* frame, Vector<3, fltp04>) Frame::s_point_to_3d_callback)

static

Sets a callback for converting frame points to 3D.

Parameters

[in] callback The 3D conversion callback function. Static callback for 3D point conversion.

Definition at line 603 of file Frame.h.

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

OrbSLAM/Headers/Frame.h

Public Member Functions

Public Attributes

Static Public Attributes

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Frame() [1/6]

◆ Frame() [2/6]

◆ Frame() [3/6]

◆ Frame() [4/6]

◆ Frame() [5/6]

◆ Frame() [6/6]

Member Function Documentation

◆ bow()

◆ cameraCenter()

◆ cameraRotation()

◆ computeStereoFromRGBD()

◆ computeStereoMatches()

◆ depth()

◆ discardOutliers()

◆ eraseMapPointMatch()

◆ extractORB()

◆ featureIndices()

◆ getFeaturesInArea()

◆ GetImuPosition()

◆ GetImuRotation()

◆ GetRelativePoseTlr()

◆ GetRelativePoseTlr_rotation()

◆ GetRelativePoseTlr_translation()

◆ GetRelativePoseTrl()

◆ GetRotation()

◆ GetTranslation()

◆ hasCamera()

◆ HasPose()

◆ HasVelocity()

◆ imuIsPreintegrated()

◆ imuPose()

◆ info()

◆ init()

◆ inRefCoordinates()

◆ inversePose()

◆ invLevelSigma2()

◆ invScaleFactors()

◆ isKeyFrame()

◆ isMono()

◆ isOutlier()

◆ isSet()

◆ keypoint() [1/2]

◆ keypoint() [2/2]

◆ levelCount()

◆ levelSigma2()

◆ linearVelocity()

◆ log()

◆ mapPoint() [1/2]

◆ mapPoint() [2/2]

◆ mapPointCount()

◆ mapPointMatches()

◆ mapPoints()

◆ mapPointsLockPtr()

◆ nearFarThreshold()

◆ observationCount()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ outliers()

◆ pose()

◆ right()

◆ scaleFactor()

◆ scaleFactors()

◆ setImuPoseVelocity()

◆ setLinearVelocity()

◆ setMapPointMatch()

◆ setMapPoints()

◆ SetNewBias()

◆ setOutlier()

◆ setOutliers()

◆ setPose()

◆ stereo3DPoint()

◆ tcw()

◆ timestamp()

◆ trackDepth()