Collaboration diagram for ORB_SLAM2::KeyFrame:

Public Member Functions
	KeyFrame (Frame &F, Map pMap, KeyFrameDatabase pKFDB)

void	SetPose (const cv::Mat &Tcw)

cv::Mat	GetPose ()

cv::Mat	GetPoseInverse ()

cv::Mat	GetCameraCenter ()

cv::Mat	GetStereoCenter ()

cv::Mat	GetRotation ()

cv::Mat	GetTranslation ()

void	ComputeBoW ()

void	AddConnection (KeyFrame *pKF, const int &weight)

void	EraseConnection (KeyFrame *pKF)

void	UpdateConnections ()

void	UpdateBestCovisibles ()

std::set< KeyFrame * >	GetConnectedKeyFrames ()

std::vector< KeyFrame *>	GetVectorCovisibleKeyFrames ()

std::vector< KeyFrame * >	GetBestCovisibilityKeyFrames (const int &N)

std::vector< KeyFrame * >	GetCovisiblesByWeight (const int &w)

int	GetWeight (KeyFrame *pKF)

void	AddChild (KeyFrame *pKF)

void	EraseChild (KeyFrame *pKF)

void	ChangeParent (KeyFrame *pKF)

std::set< KeyFrame * >	GetChilds ()

KeyFrame *	GetParent ()

bool	hasChild (KeyFrame *pKF)

void	AddLoopEdge (KeyFrame *pKF)

std::set< KeyFrame * >	GetLoopEdges ()

void	AddMapPoint (MapPoint *pMP, const size_t &idx)

void	EraseMapPointMatch (const size_t &idx)

void	EraseMapPointMatch (MapPoint *pMP)

void	ReplaceMapPointMatch (const size_t &idx, MapPoint *pMP)

std::set< MapPoint * >	GetMapPoints ()

std::vector< MapPoint * >	GetMapPointMatches ()

int	TrackedMapPoints (const int &minObs)

MapPoint *	GetMapPoint (const size_t &idx)

std::vector< size_t >	GetFeaturesInArea (const float &x, const float &y, const float &r) const

cv::Mat	UnprojectStereo (int i)

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

void	SetNotErase ()

void	SetErase ()

void	SetBadFlag ()

bool	isBad ()

float	ComputeSceneMedianDepth (const int q)

Static Public Member Functions
static bool	weightComp (int a, int b)

static bool	lId (KeyFrame pKF1, KeyFrame pKF2)

Public Attributes
long unsigned int	mnId

const long unsigned int	mnFrameId

const double	mTimeStamp

const int	mnGridCols

const int	mnGridRows

const float	mfGridElementWidthInv

const float	mfGridElementHeightInv

long unsigned int	mnTrackReferenceForFrame

long unsigned int	mnFuseTargetForKF

long unsigned int	mnBALocalForKF

long unsigned int	mnBAFixedForKF

long unsigned int	mnLoopQuery

int	mnLoopWords

float	mLoopScore

long unsigned int	mnRelocQuery

int	mnRelocWords

float	mRelocScore

cv::Mat	mTcwGBA

cv::Mat	mTcwBefGBA

long unsigned int	mnBAGlobalForKF

const float	fx

const float	fy

const float	cx

const float	cy

const float	invfx

const float	invfy

const float	mbf

const float	mb

const float	mThDepth

const int	N

const std::vector< cv::KeyPoint >	mvKeys

const std::vector< cv::KeyPoint >	mvKeysUn

const std::vector< float >	mvuRight

const std::vector< float >	mvDepth

const cv::Mat	mDescriptors

DBoW2::BowVector	mBowVec

DBoW2::FeatureVector	mFeatVec

cv::Mat	mTcp

const int	mnScaleLevels

const float	mfScaleFactor

const float	mfLogScaleFactor

const std::vector< float >	mvScaleFactors

const std::vector< float >	mvLevelSigma2

const std::vector< float >	mvInvLevelSigma2

const int	mnMinX

const int	mnMinY

const int	mnMaxX

const int	mnMaxY

const cv::Mat	mK

Static Public Attributes
static long unsigned int	nNextId =0

Protected Attributes
cv::Mat	Tcw

cv::Mat	Twc

cv::Mat	Ow

cv::Mat	Cw

std::vector< MapPoint * >	mvpMapPoints

KeyFrameDatabase *	mpKeyFrameDB

ORBVocabulary *	mpORBvocabulary

std::vector< std::vector< std::vector< size_t > > >	mGrid

std::map< KeyFrame *, int >	mConnectedKeyFrameWeights

std::vector< KeyFrame * >	mvpOrderedConnectedKeyFrames

std::vector< int >	mvOrderedWeights

bool	mbFirstConnection

KeyFrame *	mpParent

std::set< KeyFrame * >	mspChildrens

std::set< KeyFrame * >	mspLoopEdges

bool	mbNotErase

bool	mbToBeErased

bool	mbBad

float	mHalfBaseline

Map *	mpMap

std::mutex	mMutexPose

std::mutex	mMutexConnections

std::mutex	mMutexFeatures

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

/home/yubao/data/catkin_ws/src/ORB_SLAM2/include/KeyFrame.h
/home/yubao/data/catkin_ws/src/ORB_SLAM2/src/KeyFrame.cpp

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Attributes