SolAR::datastructure::Frame Class Reference

A frame. More...

#include <Frame.h>

Inheritance diagram for SolAR::datastructure::Frame:

Public Member Functions
	Frame (const SRef< Frame > frame)
	Frame (const SRef< Keyframe > keyframe)
	Frame (const std::vector< Keypoint > &keypoints, const SRef< DescriptorBuffer > descriptors, const SRef< Image > view, const Transform3Df pose=Transform3Df::Identity())
	Frame (const std::vector< Keypoint > &keypoints, const std::vector< Keypoint > &undistortedKeypoints, const SRef< DescriptorBuffer > descriptors, const SRef< Image > view, const SRef< Keyframe > refKeyframe, const Transform3Df pose=Transform3Df::Identity())
	Frame (const std::vector< Keypoint > &keypoints, const std::vector< Keypoint > &undistortedKeypoints, const SRef< DescriptorBuffer > descriptors, const SRef< Image > view, const Transform3Df pose=Transform3Df::Identity())
	~Frame ()=default
	~Frame
const SRef< Image > &	getView () const
	get view image More...
void	setView (const SRef< Image > &view)
	set view image More...
const Transform3Df &	getPose () const
	get camera pose More...
void	setPose (const Transform3Df &pose)
	set pose More...
const std::vector< Keypoint > &	getKeypoints () const
	get keypoints More...
const Keypoint &	getKeypoint (int i) const
	get the i-th keypoint More...
void	setKeypoints (const std::vector< Keypoint > &kpts)
	set keypoints More...
const std::vector< Keypoint > &	getUndistortedKeypoints () const
	get undistorted keypoints More...
const Keypoint &	getUndistortedKeypoint (int i) const
	get the i-th undistorted keypoint More...
void	setUndistortedKeypoints (const std::vector< Keypoint > &kpts)
	set undistorted keypoints More...
void	setReferenceKeyframe (const SRef< Keyframe > &keyframe)
	set reference keyframe More...
const SRef< Keyframe > &	getReferenceKeyframe () const
	get reference keyframe More...
const SRef< DescriptorBuffer > &	getDescriptors () const
	get descriptors More...
void	setDescriptors (const SRef< DescriptorBuffer > &descriptors)
	set descriptors More...
const std::map< uint32_t, uint32_t > &	getVisibility () const
	Get all cloud point visibilities.
void	setVisibility (const std::map< uint32_t, uint32_t > &visibilities)
	set visibility More...
void	addVisibilities (const std::map< uint32_t, uint32_t > &visibilites)
	Add cloud point visibilities to frame. More...
void	addVisibility (const uint32_t &id_keypoint, const uint32_t &id_cloudPoint)
	Add a cloud point visibility to frame. More...
bool	removeVisibility (const uint32_t &id_keypoint, const uint32_t &id_cloudPoint)
	Remove a visibility. More...
template<typename Archive >
void	serialize (Archive &ar, ATTRIBUTE(maybe_unused) const unsigned int version)

Protected Attributes
Transform3Df	m_pose
SRef< Image >	m_view
SRef< Keyframe >	m_referenceKeyFrame
SRef< DescriptorBuffer >	m_descriptors
std::vector< Keypoint >	m_keypoints
std::vector< Keypoint >	m_keypointsUndistort
std::map< uint32_t, uint32_t >	m_mapVisibility

Friends
class	boost::serialization::access

Detailed Description

A frame.

This class provides frame definition.

Member Function Documentation

addVisibilities()

void SolAR::datastructure::Frame::addVisibilities

(

const std::map< uint32_t, uint32_t > &

visibilites

)

Add cloud point visibilities to frame.

Parameters

[in]

visibilites

a map of cloud pont visibilities, the first element is keypoint id, the second one is cloud point id

addVisibility()

void SolAR::datastructure::Frame::addVisibility	(	const uint32_t &	id_keypoint,
		const uint32_t &	id_cloudPoint
	)

Add a cloud point visibility to frame.

Parameters

[in]	id_keypoint	id of keypoint
[in]	id_cloudPoint	id of cloud point

getDescriptors()

const SRef< DescriptorBuffer > & SolAR::datastructure::Frame::getDescriptors

(

)

const

get descriptors

Returns

descriptors

getKeypoint()

const Keypoint & SolAR::datastructure::Frame::getKeypoint

(

int

i

)

const

get the i-th keypoint

Parameters

[in]

i

index of keypoint

Returns

i-th keypoint

getKeypoints()

const std::vector< Keypoint > & SolAR::datastructure::Frame::getKeypoints

(

)

const

get keypoints

Returns

keypoints

getPose()

const Transform3Df & SolAR::datastructure::Frame::getPose

(

)

const

get camera pose

Returns

camera pose

getReferenceKeyframe()

const SRef< Keyframe > & SolAR::datastructure::Frame::getReferenceKeyframe

(

)

const

get reference keyframe

Returns

reference keyframe

getUndistortedKeypoint()

const Keypoint & SolAR::datastructure::Frame::getUndistortedKeypoint

(

int

i

)

const

get the i-th undistorted keypoint

Parameters

[in]

i

index of undistorted keypoint

Returns

i-th undistorted keypoint

getUndistortedKeypoints()

const std::vector< Keypoint > & SolAR::datastructure::Frame::getUndistortedKeypoints

(

)

const

get undistorted keypoints

Returns

undistorted keypoints

getView()

const SRef< Image > & SolAR::datastructure::Frame::getView

(

)

const

get view image

Returns

view image

removeVisibility()

bool SolAR::datastructure::Frame::removeVisibility	(	const uint32_t &	id_keypoint,
		const uint32_t &	id_cloudPoint
	)

Remove a visibility.

Parameters

[in]	id_keypoint	id of keypoint
[in]	id_cloudPoint	id of cloud point

Returns

true if remove successfully

setDescriptors()

void SolAR::datastructure::Frame::setDescriptors

(

const SRef< DescriptorBuffer > &

descriptors

)

set descriptors

Parameters

[in]

descriptors

descriptors

setKeypoints()

void SolAR::datastructure::Frame::setKeypoints

(

const std::vector< Keypoint > &

kpts

)

set keypoints

Parameters

[in]

kpts

keypoints

setPose()

void SolAR::datastructure::Frame::setPose

(

const Transform3Df &

pose

)

set pose

Parameters

[in]

pose

camera pose

setReferenceKeyframe()

void SolAR::datastructure::Frame::setReferenceKeyframe

(

const SRef< Keyframe > &

keyframe

)

set reference keyframe

Parameters

[in]

keyframe

reference keyframe

setUndistortedKeypoints()

void SolAR::datastructure::Frame::setUndistortedKeypoints

(

const std::vector< Keypoint > &

kpts

)

set undistorted keypoints

Parameters

[in]

kpts

undistorted keypoints

setView()

void SolAR::datastructure::Frame::setView

(

const SRef< Image > &

view

)

set view image

Parameters

[in]

view

view image

setVisibility()

void SolAR::datastructure::Frame::setVisibility

(

const std::map< uint32_t, uint32_t > &

visibilities

)

set visibility

Parameters

[in]

visibilities

a map of cloud pont visibilities, the first element is keypoint id, the second one is cloud point id

---

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

• interfaces/datastructure/Frame.h
• src/datastructure/Frame.cpp