A keyframe. More...
#include <Keyframe.h>
Inheritance diagram for SolAR::datastructure::Keyframe:
Collaboration diagram for SolAR::datastructure::Keyframe:
Public Member Functions | |
| Keyframe (SRef< Frame > frame) | |
| Keyframe (const std::vector< Keypoint > &keypoints, SRef< DescriptorBuffer > descriptors, SRef< Image > view, Transform3Df pose=Transform3Df::Identity()) | |
| Keyframe (const std::vector< Keypoint > &keypoints, const std::vector< Keypoint > &undistortedKeypoints, SRef< DescriptorBuffer > descriptors, SRef< Image > view, SRef< Keyframe > refKeyframe, Transform3Df pose=Transform3Df::Identity()) | |
| Keyframe (const std::vector< Keypoint > &keypoints, const std::vector< Keypoint > &undistortedKeypoints, SRef< DescriptorBuffer > descriptors, SRef< Image > view, Transform3Df pose=Transform3Df::Identity()) | |
| const uint32_t & | getId () const |
| Return keyframe id. | |
| void | setId (const uint32_t &id_keyframe) |
| Set keyframe id. More... | |
| template<typename Archive > | |
| void | serialize (Archive &ar, ATTRIBUTE(maybe_unused) const unsigned int version) |
 Public Member Functions inherited from SolAR::datastructure::Frame | |
| 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) |
| Public Member Functions inherited from SolAR::datastructure::PrimitiveInformation | |
| PrimitiveInformation () | |
| PrimitiveInformation constructor. | |
| ~PrimitiveInformation ()=default | |
| PrimitiveInformation deconstruction. | |
| bool | isValid () const |
| This method is to known an element being valid or not. More... | |
| void | setInvalid () |
| This method is to set an element being invalid. | |
| void | updateConfidence (bool isGood) |
| This method updates the confident score of the primitive element. More... | |
| float | getConfidence () const |
| This method returns the confident score of the primitive element. More... | |
| uint32_t | getUsedTime () const |
| This method returns the number of used times of the primitive element. More... | |
| const std::chrono::system_clock::time_point & | getLastUpdateTime () const |
| This method returns the last updated time of the primitive element. More... | |
| void | setLastUpdateTime (const std::chrono::system_clock::time_point &updateTime) |
| This method updates the last updated time of the primitive element. More... | |
| int | getSemanticId () const |
| This method returns the semantic id of the primitive element. More... | |
| void | setSemanticId (const int &semanticId) |
| This method sets the semantic id of the primitive element. More... | |
| template<typename Archive > | |
| void | serialize (Archive &ar, ATTRIBUTE(maybe_unused) const unsigned int version) |
Friends | |
| class | boost::serialization::access |
Additional Inherited Members | |
| Protected Attributes inherited from SolAR::datastructure::Frame | |
| 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 |
Detailed Description
A keyframe.
This class provides Keyframe definition.
Member Function Documentation
◆ setId()
| void SolAR::datastructure::Keyframe::setId | ( | const uint32_t & | id_keyframe | ) |
Set keyframe id.
- Parameters
-
[in] id_keyframe keyframe id
The documentation for this class was generated from the following files:
- interfaces/datastructure/Keyframe.h
- src/datastructure/Keyframe.cpp
