Program Listing for File KeyFrame.h

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#pragma once

#include "Frame.h"
#include "DepthEstimation/DepthMap.h"
#include "Tracking/TrackingReference.h"

namespace lsd_slam {

  class KeyFrame {
  public:

    typedef std::shared_ptr<KeyFrame> SharedPtr;

    //== Creator methods.  Conventional constructor is hidden to ensure
    // all of the sub-objects are properly synchronized

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

    KeyFrame() = delete;
    KeyFrame( const KeyFrame & ) = delete;

    //== Thin pass-throughs to Frame ==
    int id() const                      { return _frame->id(); }
    FramePoseStruct::SharedPtr pose()   { return frame()->pose; }
    Sim3 getCamToWorld()                { return pose()->getCamToWorld(); }


    //== Member accessors ==
    std::shared_ptr<Frame> &frame() { return _frame;}
    DepthMap::SharedPtr depthMap()  { return _depthMap; }
    TrackingReference::SharedPtr &trackingReference()   { return _trackingReference; }

    //== Depth maintenance functions ==
    void updateDepthFrom( const Frame::SharedPtr &frame );
    void syncDepthMapToFrame();
    void finalize();

    std::unordered_set< KeyFrame::SharedPtr > neighbors;

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

    //== Meta statistics ==
    int numFramesTrackedOnThis;
    int numMappedOnThis;
    int numMappedOnThisTotal;



  protected:

    // Constructor when not propagating from a previous keyframe
    KeyFrame( const Frame::SharedPtr &frame );

  private:

    Frame::SharedPtr _frame;
    DepthMap::SharedPtr _depthMap;
    TrackingReference::SharedPtr _trackingReference;

  };


}