A keyframe in the SLAM map, derived from Frame. More...

Inheritance diagram for KeyFrame:

Collaboration diagram for KeyFrame:

Classes
struct	KeyFrameScore
	Stores place-recognition query scores for a keyframe. More...

Public Types
enum	ScoreEnum { e_merge , e_loop , e_relocation , e_place_recognition }
	Enumerates the types of place-recognition scoring. More...

Public Member Functions
	KeyFrame (Frame &F, Map pMap, KeyFrameDatabase pKFDB)
	Constructs a KeyFrame from a Frame.
void	AddChild (KeyFrame *pKF)
	Adds a child keyframe in the spanning tree.
void	addConnection (KeyFrame *pKF, uint04 weight)
	Adds a covisibility connection to another keyframe.
void	addGlobalPositionMeas (const GlobalPosition *meas)
	Adds a global position measurement to this keyframe.
void	AddLoopEdge (KeyFrame *pKF)
	Adds a loop closure edge to another keyframe.
void	AddMergeEdge (KeyFrame *pKF)
	Adds a merge edge to another keyframe.
void	bestCovisibilityKeyFrames (Buffer< KeyFrame * > &frames, uint04 N=Constant< uint04 >::Max) const
	Returns the N best covisible keyframes by weight.
void	ChangeParent (KeyFrame *pKF)
	Changes the parent of this keyframe in the spanning tree.
float	ComputeSceneMedianDepth (const int q)
	Computes the median scene depth.
void	covisiblesByWeight (uint04 w, Buffer< KeyFrame * > &frames) const
	Returns keyframes with covisibility weight at least w.
bool	doNotReduce () const
	Checks whether this keyframe should not be reduced/culled.
void	EraseChild (KeyFrame *pKF)
	Removes a child keyframe from the spanning tree.
void	EraseConnection (KeyFrame *pKF)
	Removes a covisibility connection.
void	eraseMapPoint (MapPoint *pMP)
	Removes a map point observation from this keyframe.
Eigen::Vector3f	GetAccBias ()
	Returns the accelerometer bias.
Set< KeyFrame * >	GetChilds ()
	Returns the children of this keyframe in the spanning tree.
Set< KeyFrame * >	GetConnectedKeyFrames ()
	Returns all connected keyframes in the covisibility graph.
Buffer< const GlobalPosition * >	getGlobalPositionMeas () const
	Returns global position measurements associated with this keyframe.
Eigen::Vector3f	GetGyroBias ()
	Returns the gyroscope bias.
IMU::Bias	GetImuBias ()
	Returns the full IMU bias (gyroscope + accelerometer).
Eigen::Vector3< g_type >	GetImuPosition () const final override
	Returns the IMU position in world coordinates.
Eigen::Matrix3< g_type >	GetImuRotation () const final override
	Returns the IMU rotation matrix.
Set< KeyFrame * >	GetLoopEdges ()
	Returns all loop closure edges.
Map *	GetMap ()
	Returns the map this keyframe belongs to.
Set< KeyFrame * >	GetMergeEdges ()
	Returns all merge edges.
Sophus::SE3f	GetRelativePoseTlr ()
	Returns the relative pose from left to right camera.
Sophus::SE3f	GetRelativePoseTrl ()
	Returns the relative pose from right to left camera.
Eigen::Vector3f	GetRightCameraCenter ()
	Returns the right camera center in world coordinates.
Sophus::SE3< float >	GetRightPose ()
	Returns the right camera pose in world coordinates.
Sophus::SE3< float >	GetRightPoseInverse ()
	Returns the inverse of the right camera pose.
Eigen::Matrix< float, 3, 3 >	GetRightRotation ()
	Returns the right camera rotation matrix.
Eigen::Vector3f	GetRightTranslation ()
	Returns the right camera translation vector.
Eigen::Matrix3< g_type >	GetRotation () const final override
	Returns the camera rotation matrix (camera-to-world).
Eigen::Vector3< g_type >	GetTranslation () const final override
	Returns the camera translation vector (camera-to-world).
bool	hasChild (KeyFrame *pKF)
	Checks whether a keyframe is a child of this one.
Sophus::SE3< g_type >	imuPose () const final override
	Returns the IMU pose as an SE3 transform.
Sophus::SE3< g_type >	inversePose () const override
	Returns the inverse camera pose (camera-to-world transform).
bool	IsInImage (const float &x, const float &y) const
	Checks whether a point is within the image bounds.
Eigen::Vector3< g_type >	linearVelocity () const final override
	Returns the linear velocity of the frame.
Map *	map () const
	Returns the map this keyframe belongs to.
KeyFrame *	parent () const
	Returns the parent keyframe in the spanning tree.
Sophus::SE3< g_type >	pose () const override
	Returns the camera pose (thread-safe).
void	processGlobalPositionMeas ()
	Processes global position measurements for this keyframe.
void	SetBadFlag ()
	Marks this keyframe as bad and removes it from the map.
void	setDoNotReduce (bool do_not_reduce) const
	Sets whether this keyframe should not be reduced/culled.
void	SetErase ()
	Allows this keyframe to be erased.
void	SetFirstConnection (bool bFirst)
	Sets the first-connection flag.
void	SetKeyFrameDatabase (KeyFrameDatabase *pKFDB)
	Sets the keyframe database for this keyframe.
void	setLinearVelocity (const Eigen::Vector3< g_type > &Vw_) final override
	Sets the IMU linear velocity (thread-safe).
void	SetNewBias (const IMU::Bias &b)
	Updates the IMU bias for this keyframe.
void	SetNotErase ()
	Prevents this keyframe from being erased.
void	SetORBVocabulary (ORBVocabulary *pORBVoc)
	Sets the ORB vocabulary for this keyframe.
void	setPose (const Sophus::SE3< g_type > &Tcw) final override
	Sets the camera pose (thread-safe).
void	updateBestCovisibles ()
	Sorts covisible keyframes by weight.
void	updateConnections ()
	Updates all covisibility connections based on shared map points.
void	UpdateMap (Map *pMap)
	Updates the map association for this keyframe.
uint04	weight (KeyFrame *pKF) const
	Returns the covisibility weight with another keyframe.
Public Member Functions inherited from Frame
	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.
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.
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.
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.
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.
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.
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.
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.
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
bool	bImu = false
	Whether this keyframe uses IMU data.
uint04	frame_id = Constant<uint04>::Invalid
	Original frame ID.
uint04	keyframe_id = Constant<uint04>::Invalid
	Unique keyframe ID.
uint04	mnBAFixedForKF = 0U
	Fixed BA keyframe ID marker.
uint04	mnBALocalForKF = 0U
	Local BA keyframe ID marker.
KeyFrame *	mNextKF = nullptr
	Next keyframe in temporal order.
uint04	mnFuseTargetForKF = 0U
	Fuse target keyframe ID for tracking.
KeyFrame *	mPrevKF = nullptr
	Previous keyframe in temporal order.
Sophus::SE3< g_type >	mTcp
	Pose relative to parent (computed when bad flag is set).
KeyFrameScore	scores [4]
	Scores indexed by ScoreEnum.
Public Attributes inherited from Frame
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 volatile uint04	s_next_kf_id
	Global keyframe ID counter.
Static Public Attributes inherited from Frame
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.

Additional Inherited Members
Protected Attributes inherited from Frame
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

A keyframe in the SLAM map, derived from Frame.

KeyFrames are selected frames that anchor the map. They store covisibility graph connections, spanning tree relationships, loop edges, and are used for local mapping, loop closing, and relocalization.

Definition at line 30 of file KeyFrame.h.

Member Enumeration Documentation

◆ ScoreEnum

enum KeyFrame::ScoreEnum

Enumerates the types of place-recognition scoring.

Enumerator
e_merge	Merge detection score.
e_loop	Loop detection score.
e_relocation	Relocalization score.
e_place_recognition	General place recognition score.

Definition at line 293 of file KeyFrame.h.

Constructor & Destructor Documentation

◆ KeyFrame()

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

Constructs a KeyFrame from a Frame.

Parameters

[in]	F	Source frame to promote to a keyframe.
[in]	pMap	Map this keyframe belongs to.
[in]	pKFDB	Keyframe database for place recognition.

References Frame::Frame().

Referenced by AddChild(), addConnection(), AddLoopEdge(), AddMergeEdge(), bestCovisibilityKeyFrames(), ChangeParent(), covisiblesByWeight(), EraseChild(), EraseConnection(), GetChilds(), GetConnectedKeyFrames(), hasChild(), parent(), and weight().

Member Function Documentation

◆ AddChild()

void KeyFrame::AddChild ( KeyFrame * pKF )

Adds a child keyframe in the spanning tree.

Parameters

[in] pKF Child keyframe to add.

References KeyFrame(), and AddChild().

Referenced by AddChild().

◆ addConnection()

void KeyFrame::addConnection	(	KeyFrame *	pKF,
		uint04	weight )

Adds a covisibility connection to another keyframe.

Parameters

[in]	pKF	Connected keyframe.
[in]	weight	Number of shared map points.

References KeyFrame(), addConnection(), and weight().

Referenced by addConnection().

◆ addGlobalPositionMeas()

void KeyFrame::addGlobalPositionMeas ( const GlobalPosition * meas )

Adds a global position measurement to this keyframe.

Parameters

[in] meas Pointer to the global position measurement.

◆ AddLoopEdge()

void KeyFrame::AddLoopEdge ( KeyFrame * pKF )

Adds a loop closure edge to another keyframe.

Parameters

[in] pKF Loop-connected keyframe.

References KeyFrame().

◆ AddMergeEdge()

void KeyFrame::AddMergeEdge ( KeyFrame * pKF )

Adds a merge edge to another keyframe.

Parameters

[in] pKF Merge-connected keyframe.

References KeyFrame().

◆ bestCovisibilityKeyFrames()

void KeyFrame::bestCovisibilityKeyFrames	(	Buffer< KeyFrame * > &	frames,
		uint04	N = Constant< uint04 >::Max ) const

Returns the N best covisible keyframes by weight.

Parameters

[out]	frames	Buffer to fill with covisible keyframes.
[in]	N	Maximum number to return (default all).

References KeyFrame(), bestCovisibilityKeyFrames(), and Frame::N.

Referenced by bestCovisibilityKeyFrames().

◆ ChangeParent()

void KeyFrame::ChangeParent ( KeyFrame * pKF )

Changes the parent of this keyframe in the spanning tree.

Parameters

[in] pKF New parent keyframe.

References KeyFrame(), and ChangeParent().

Referenced by ChangeParent().

◆ ComputeSceneMedianDepth()

float KeyFrame::ComputeSceneMedianDepth ( const int q )

Computes the median scene depth.

Used in monocular initialization.

Parameters

[in] q Quantile parameter (2 for median).

Returns: The median depth value.

◆ covisiblesByWeight()

void KeyFrame::covisiblesByWeight	(	uint04	w,
		Buffer< KeyFrame * > &	frames ) const

Returns keyframes with covisibility weight at least w.

Parameters

[in]	w	Minimum weight threshold.
[out]	frames	Buffer to fill with qualifying keyframes.

References KeyFrame(), and covisiblesByWeight().

Referenced by covisiblesByWeight().

◆ doNotReduce()

bool KeyFrame::doNotReduce ( ) const

inline

Checks whether this keyframe should not be reduced/culled.

Returns: True if reduction is suppressed.

Definition at line 50 of file KeyFrame.h.

◆ EraseChild()

void KeyFrame::EraseChild ( KeyFrame * pKF )

Removes a child keyframe from the spanning tree.

Parameters

[in] pKF Child keyframe to remove.

References KeyFrame(), and EraseChild().

Referenced by EraseChild().

◆ EraseConnection()

void KeyFrame::EraseConnection ( KeyFrame * pKF )

Removes a covisibility connection.

Parameters

[in] pKF Keyframe to disconnect.

References KeyFrame(), and EraseConnection().

Referenced by EraseConnection().

◆ eraseMapPoint()

void KeyFrame::eraseMapPoint ( MapPoint * pMP )

Removes a map point observation from this keyframe.

Parameters

[in] pMP Map point to remove.

◆ GetAccBias()

Eigen::Vector3f KeyFrame::GetAccBias ( )

Returns the accelerometer bias.

Returns: The 3D accelerometer bias vector.

◆ GetChilds()

Set< KeyFrame * > KeyFrame::GetChilds ( )

Returns the children of this keyframe in the spanning tree.

Returns: Set of child keyframe pointers.

References KeyFrame(), and GetChilds().

Referenced by GetChilds().

◆ GetConnectedKeyFrames()

Set< KeyFrame * > KeyFrame::GetConnectedKeyFrames ( )

Returns all connected keyframes in the covisibility graph.

Returns: Set of connected keyframe pointers.

References KeyFrame(), and GetConnectedKeyFrames().

Referenced by GetConnectedKeyFrames().

◆ getGlobalPositionMeas()

Buffer< const GlobalPosition * > KeyFrame::getGlobalPositionMeas ( ) const

Returns global position measurements associated with this keyframe.

Returns: Buffer of global position pointers.

◆ GetGyroBias()

Eigen::Vector3f KeyFrame::GetGyroBias ( )

Returns the gyroscope bias.

Returns: The 3D gyroscope bias vector.

◆ GetImuBias()

IMU::Bias KeyFrame::GetImuBias ( )

Returns the full IMU bias (gyroscope + accelerometer).

Returns: The IMU bias.

◆ GetImuPosition()

Eigen::Vector3< g_type > KeyFrame::GetImuPosition ( ) const

finaloverridevirtual

Returns the IMU position in world coordinates.

Returns: The 3D IMU position.

Reimplemented from Frame.

◆ GetImuRotation()

Eigen::Matrix3< g_type > KeyFrame::GetImuRotation ( ) const

finaloverridevirtual

Returns the IMU rotation matrix.

Returns: The 3x3 IMU rotation.

Reimplemented from Frame.

References GetImuRotation().

Referenced by GetImuRotation().

◆ GetLoopEdges()

Set< KeyFrame * > KeyFrame::GetLoopEdges ( )

Returns all loop closure edges.

Returns: Set of loop-connected keyframe pointers.

◆ GetMap()

Map * KeyFrame::GetMap ( )

Returns the map this keyframe belongs to.

Returns: Pointer to the map.

◆ GetMergeEdges()

Set< KeyFrame * > KeyFrame::GetMergeEdges ( )

Returns all merge edges.

Returns: Set of merge-connected keyframe pointers.

◆ GetRelativePoseTlr()

Sophus::SE3f KeyFrame::GetRelativePoseTlr ( )

Returns the relative pose from left to right camera.

Returns: The SE3 transform Tlr.

◆ GetRelativePoseTrl()

Sophus::SE3f KeyFrame::GetRelativePoseTrl ( )

Returns the relative pose from right to left camera.

Returns: The SE3 transform Trl.

◆ GetRightCameraCenter()

Eigen::Vector3f KeyFrame::GetRightCameraCenter ( )

Returns the right camera center in world coordinates.

Returns: The 3D right camera center.

◆ GetRightPose()

Sophus::SE3< float > KeyFrame::GetRightPose ( )

Returns the right camera pose in world coordinates.

Returns: The SE3 right camera pose.

◆ GetRightPoseInverse()

Sophus::SE3< float > KeyFrame::GetRightPoseInverse ( )

Returns the inverse of the right camera pose.

Returns: The SE3 inverse right camera pose.

◆ GetRightRotation()

Eigen::Matrix< float, 3, 3 > KeyFrame::GetRightRotation ( )

Returns the right camera rotation matrix.

Returns: The 3x3 rotation matrix.

◆ GetRightTranslation()

Eigen::Vector3f KeyFrame::GetRightTranslation ( )

Returns the right camera translation vector.

Returns: The 3D translation vector.

◆ GetRotation()

Eigen::Matrix3< g_type > KeyFrame::GetRotation ( ) const

inlinefinaloverridevirtual

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

Returns: The 3x3 rotation matrix.

Reimplemented from Frame.

Definition at line 101 of file KeyFrame.h.

References GetRotation(), and Frame::mTcw.

Referenced by GetRotation().

◆ GetTranslation()

Eigen::Vector3< g_type > KeyFrame::GetTranslation ( ) const

inlinefinaloverridevirtual

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

Returns: The 3D translation vector.

Reimplemented from Frame.

Definition at line 106 of file KeyFrame.h.

References Frame::mTcw.

◆ hasChild()

bool KeyFrame::hasChild ( KeyFrame * pKF )

Checks whether a keyframe is a child of this one.

Parameters

[in] pKF Keyframe to check.

Returns: True if pKF is a child.

References KeyFrame().

◆ imuPose()

Sophus::SE3< g_type > KeyFrame::imuPose ( ) const

finaloverridevirtual

Returns the IMU pose as an SE3 transform.

Returns: The IMU pose.

Reimplemented from Frame.

References imuPose().

Referenced by imuPose().

◆ inversePose()

Sophus::SE3< g_type > KeyFrame::inversePose ( ) const

inlineoverridevirtual

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

Returns: The SE3 pose Twc.

Reimplemented from Frame.

Definition at line 66 of file KeyFrame.h.

References Frame::mTwc.

◆ IsInImage()

bool KeyFrame::IsInImage	(	const float &	x,
		const float &	y ) const

Checks whether a point is within the image bounds.

Parameters

[in]	x	X coordinate.
[in]	y	Y coordinate.

Returns: True if the point is within bounds.

◆ linearVelocity()

Eigen::Vector3< g_type > KeyFrame::linearVelocity ( ) const

finaloverridevirtual

Returns the linear velocity of the frame.

Returns: The 3D velocity vector.

Reimplemented from Frame.

◆ map()

Map * KeyFrame::map ( ) const

inline

Returns the map this keyframe belongs to.

Returns: Pointer to the map.

Definition at line 62 of file KeyFrame.h.

◆ parent()

KeyFrame * KeyFrame::parent ( ) const

inline

Returns the parent keyframe in the spanning tree.

Returns: Pointer to the parent keyframe.

Definition at line 166 of file KeyFrame.h.

References KeyFrame(), and parent().

Referenced by parent().

◆ pose()

Sophus::SE3< g_type > KeyFrame::pose ( ) const

overridevirtual

Returns the camera pose (thread-safe).

Returns: The SE3 world-to-camera transform.

Reimplemented from Frame.

◆ setDoNotReduce()

void KeyFrame::setDoNotReduce ( bool do_not_reduce ) const

inline

Sets whether this keyframe should not be reduced/culled.

Parameters

[in] do_not_reduce True to suppress reduction.

Definition at line 54 of file KeyFrame.h.

◆ SetFirstConnection()

void KeyFrame::SetFirstConnection ( bool bFirst )

Sets the first-connection flag.

Parameters

[in] bFirst True if this is the first connection.

◆ SetKeyFrameDatabase()

void KeyFrame::SetKeyFrameDatabase ( KeyFrameDatabase * pKFDB )

Sets the keyframe database for this keyframe.

Parameters

[in] pKFDB Pointer to the keyframe database.

◆ setLinearVelocity()

void KeyFrame::setLinearVelocity ( const Eigen::Vector3< g_type > & Vw_ )

finaloverridevirtual

Sets the IMU linear velocity (thread-safe).

Parameters

[in] Vw_ Velocity in world coordinates.

Reimplemented from Frame.

◆ SetNewBias()

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

Updates the IMU bias for this keyframe.

Parameters

[in] b New IMU bias.

◆ SetORBVocabulary()

void KeyFrame::SetORBVocabulary ( ORBVocabulary * pORBVoc )

Sets the ORB vocabulary for this keyframe.

Parameters

[in] pORBVoc Pointer to the ORB vocabulary.

◆ setPose()

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

finaloverridevirtual

Sets the camera pose (thread-safe).

Parameters

[in] Tcw World-to-camera transform.

Reimplemented from Frame.

◆ UpdateMap()

void KeyFrame::UpdateMap ( Map * pMap )

Updates the map association for this keyframe.

Parameters

[in] pMap New map pointer.

◆ weight()

uint04 KeyFrame::weight ( KeyFrame * pKF ) const

Returns the covisibility weight with another keyframe.

Parameters

[in] pKF The other keyframe.

Returns: The weight (shared map point count).

References KeyFrame(), and weight().

Referenced by addConnection(), and weight().

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

OrbSLAM/Headers/KeyFrame.h

Classes

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ ScoreEnum

Constructor & Destructor Documentation

◆ KeyFrame()

Member Function Documentation

◆ AddChild()

◆ addConnection()

◆ addGlobalPositionMeas()

◆ AddLoopEdge()

◆ AddMergeEdge()

◆ bestCovisibilityKeyFrames()

◆ ChangeParent()

◆ ComputeSceneMedianDepth()

◆ covisiblesByWeight()

◆ doNotReduce()

◆ EraseChild()

◆ EraseConnection()

◆ eraseMapPoint()

◆ GetAccBias()

◆ GetChilds()

◆ GetConnectedKeyFrames()

◆ getGlobalPositionMeas()

◆ GetGyroBias()

◆ GetImuBias()

◆ GetImuPosition()

◆ GetImuRotation()

◆ GetLoopEdges()

◆ GetMap()

◆ GetMergeEdges()

◆ GetRelativePoseTlr()

◆ GetRelativePoseTrl()

◆ GetRightCameraCenter()

◆ GetRightPose()

◆ GetRightPoseInverse()

◆ GetRightRotation()

◆ GetRightTranslation()

◆ GetRotation()

◆ GetTranslation()

◆ hasChild()

◆ imuPose()

◆ inversePose()

◆ IsInImage()

◆ linearVelocity()

◆ map()

◆ parent()

◆ pose()

◆ setDoNotReduce()

◆ SetFirstConnection()

◆ SetKeyFrameDatabase()

◆ setLinearVelocity()

◆ SetNewBias()

◆ SetORBVocabulary()

◆ setPose()

◆ UpdateMap()

◆ weight()