Holds per-view (left or right) keypoint data for a frame. More...

Collaboration diagram for FrameView:

Public Member Functions
	FrameView ()
	Default constructor.
	FrameView (const FrameView &other)
	Copy constructor.
	FrameView (ORBextractor extractor, GeometricCamera camera)
	Constructs a FrameView with the given extractor and camera.
void	init (ORBextractor extractor, GeometricCamera camera)
	Initializes the view with the given extractor and camera.
FrameView &	operator= (const FrameView &other)
	Copy assignment operator.

Public Attributes
GeometricCamera *	camera = nullptr
	Camera model for this view.
cv::Mat	descriptors
	ORB descriptors for extracted keypoints.
ORBextractor *	extractor = nullptr
	ORB feature extractor for this view.
Dictionary< Vector< 2, uint04 >, Buffer< uint04 > >	grid
	Feature grid mapping cell coordinates to keypoint indices.
uint04	keypoint_count = 0U
	Number of overlapping keypoints.
PrimitiveAlignedBuffer< cv::KeyPoint, 32 >	keys
	Extracted keypoints.
Buffer< uint04 >	match_points
	Indices of matched map points.
uint04	mono_count = 0U
	Number of non-lapping (monocular) keypoints.

Detailed Description

Holds per-view (left or right) keypoint data for a frame.

Stores extracted keypoints, descriptors, feature grid, and the associated camera and extractor for one view of a stereo or mono frame.

Definition at line 31 of file Frame.h.

Constructor & Destructor Documentation

FrameView::FrameView	(	ORBextractor *	extractor,
		GeometricCamera *	camera )

Constructs a FrameView with the given extractor and camera.

Parameters

[in]	extractor	ORB feature extractor.
[in]	camera	Geometric camera model.

References camera, and extractor.

FrameView::FrameView ( const FrameView & other )

Copy constructor.

Parameters

[in] other FrameView to copy.

References FrameView().

void FrameView::init	(	ORBextractor *	extractor,
		GeometricCamera *	camera )

Initializes the view with the given extractor and camera.

Parameters

[in]	extractor	ORB feature extractor.
[in]	camera	Geometric camera model.

References camera, and extractor.

FrameView & FrameView::operator= ( const FrameView & other )

Copy assignment operator.

Parameters

[in] other FrameView to copy.

References FrameView().

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