ORB_SLAM2::System Class Reference

Public Types
enum	eSensor { MONOCULAR =0, STEREO =1, RGBD =2 }

Public Member Functions
	System (const string &strVocFile, const string &strSettingsFile, const eSensor sensor, const bool bUseViewer=true)
cv::Mat	TrackStereo (const cv::Mat &imLeft, const cv::Mat &imRight, const double &timestamp)
cv::Mat	TrackRGBD (const cv::Mat &im, const cv::Mat &depthmap, const double &timestamp)
cv::Mat	TrackMonocular (const cv::Mat &im, const double &timestamp)
void	ActivateLocalizationMode ()
void	DeactivateLocalizationMode ()
bool	MapChanged ()
void	Reset ()
void	Shutdown ()
void	SaveTrajectoryTUM (const string &filename)
void	SaveKeyFrameTrajectoryTUM (const string &filename)
void	SaveTrajectoryKITTI (const string &filename)
int	GetTrackingState ()
std::vector< MapPoint * >	GetTrackedMapPoints ()
std::vector< cv::KeyPoint >	GetTrackedKeyPointsUn ()

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

• /home/yubao/data/catkin_ws/src/ORB_SLAM2/include/System.h
• /home/yubao/data/catkin_ws/src/ORB_SLAM2/src/System.cpp