Collaboration diagram for ORB_SLAM2::Frame:

[legend]

Public Member Functions
	Frame (const Frame &frame)

	Frame (const cv::Mat &imLeft, const cv::Mat &imRight, const double &timeStamp, ORBextractor extractorLeft, ORBextractor extractorRight, ORBVocabulary *voc, cv::Mat &K, cv::Mat &distCoef, const float &bf, const float &thDepth)

	Frame (const cv::Mat &imGray, const cv::Mat &imDepth, const double &timeStamp, ORBextractor extractor, ORBVocabulary voc, cv::Mat &K, cv::Mat &distCoef, const float &bf, const float &thDepth)

	Frame (const cv::Mat &imGray, const double &timeStamp, ORBextractor extractor, ORBVocabulary voc, cv::Mat &K, cv::Mat &distCoef, const float &bf, const float &thDepth)

void	ExtractORB (int flag, const cv::Mat &im)

void	ComputeBoW ()

void	SetPose (cv::Mat Tcw)

void	UpdatePoseMatrices ()

cv::Mat	GetCameraCenter ()

cv::Mat	GetRotationInverse ()

bool	isInFrustum (MapPoint *pMP, float viewingCosLimit)

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

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

void	ComputeStereoMatches ()

void	ComputeStereoFromRGBD (const cv::Mat &imDepth)

cv::Mat	UnprojectStereo (const int &i)

Public Attributes
ORBVocabulary *	mpORBvocabulary

ORBextractor *	mpORBextractorLeft

ORBextractor *	mpORBextractorRight

double	mTimeStamp

cv::Mat	mK

cv::Mat	mDistCoef

float	mbf

float	mb

float	mThDepth

int	N

std::vector< cv::KeyPoint >	mvKeys

std::vector< cv::KeyPoint >	mvKeysRight

std::vector< cv::KeyPoint >	mvKeysUn

std::vector< float >	mvuRight

std::vector< float >	mvDepth

DBoW2::BowVector	mBowVec

DBoW2::FeatureVector	mFeatVec

cv::Mat	mDescriptors

cv::Mat	mDescriptorsRight

std::vector< MapPoint * >	mvpMapPoints

std::vector< bool >	mvbOutlier

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

cv::Mat	mTcw

long unsigned int	mnId

KeyFrame *	mpReferenceKF

int	mnScaleLevels

float	mfScaleFactor

float	mfLogScaleFactor

vector< float >	mvScaleFactors

vector< float >	mvInvScaleFactors

vector< float >	mvLevelSigma2

vector< float >	mvInvLevelSigma2

Static Public Attributes
static float	fx

static float	fy

static float	cx

static float	cy

static float	invfx

static float	invfy

static float	mfGridElementWidthInv

static float	mfGridElementHeightInv

static long unsigned int	nNextId =0

static float	mnMinX

static float	mnMaxX

static float	mnMinY

static float	mnMaxY

static bool	mbInitialComputations =true

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

Public Member Functions

Public Attributes