Class KeyFrame

• Defined in File KeyFrame.h

Class Documentation

class KeyFrame

Public Types

typedef std::shared_ptr<KeyFrame> SharedPtr

Public Functions

KeyFrame()

KeyFrame(const KeyFrame&)

int id() const

FramePoseStruct::SharedPtr pose()

Sim3 getCamToWorld()

std::shared_ptr<Frame> &frame()

DepthMap::SharedPtr depthMap()

TrackingReference::SharedPtr &trackingReference()

void updateDepthFrom(const Frame::SharedPtr &frame)

void syncDepthMapToFrame()

void finalize()

Public Members

std::unordered_set<KeyFrame::SharedPtr> neighbors

Pointers to all adjacent Frames in graph. empty for non-keyframes.

std::unordered_multimap<KeyFrame::SharedPtr, Sim3> trackingFailed

Multi-Map indicating for which other keyframes with which initialization tracking failed.

int numFramesTrackedOnThis

int numMappedOnThis

int numMappedOnThisTotal

Public Static Functions

KeyFrame::SharedPtr Create(const Frame::SharedPtr &frame)

KeyFrame::SharedPtr PropagateAndCreate(const KeyFrame::SharedPtr &kf, const Frame::SharedPtr &frame)

Protected Functions

KeyFrame(const Frame::SharedPtr &frame)