Class Frame¶

Defined in File Frame.h

Class Documentation¶

class Frame¶

Public Types

enum DataFlags¶

Flags for use with require() and requirePyramid(). See the Frame class documentation for their exact meaning.

Values:

IMAGE = 1 << 0¶

GRADIENTS = 1 << 1¶

MAX_GRADIENTS = 1 << 2¶

IDEPTH = 1 << 3¶

IDEPTH_VAR = 1 << 4¶

REF_ID = 1 << 5¶

ALL = IMAGE | GRADIENTS | MAX_GRADIENTS | IDEPTH | IDEPTH_VAR | REF_ID ¶

typedef std::shared_ptr<Frame> SharedPtr¶

Public Functions

Frame()¶

Frame(const Frame&)¶

Frame(int id, const Camera &cam, const ImageSize &sz, double timestamp, const unsigned char *image)¶

Frame(int id, const Camera &cam, const ImageSize &sz, double timestamp, const float *image)¶

~Frame()¶

void setDepth(const std::shared_ptr<DepthMap> &depthMap)¶: Sets or updates idepth and idepthVar on level zero. Invalidates higher levels.

void calculateMeanInformation()¶: Calculates mean information for statistical purposes.

void setDepthFromGroundTruth(const float *depth, float cov_scale = 1.0f)¶: Sets ground truth depth (real, not inverse!) from a float array on level zero. Invalidates higher levels.

void prepareForStereoWith(const Frame::SharedPtr &other, Sim3 thisToOther, const int level)¶: Prepares this frame for stereo comparisons with the other frame (computes some intermediate values that will be needed)

int id() const¶: Returns the unique frame id.

const ImageSize &imgSize(int i = 0) const¶

int width(int i = 0) const¶

int height(int i = 0) const¶

int area(int i = 0) const¶

const Camera &camera(int level = 0) const¶

const Eigen::Matrix3f &K(int level = 0) const¶

const Eigen::Matrix3f &Kinv(int level = 0) const¶

float fx(int level = 0) const¶

float fy(int level = 0) const¶

float cx(int level = 0) const¶

float cy(int level = 0) const¶

float fxi(int level = 0) const¶

float fyi(int level = 0) const¶

float cxi(int level = 0) const¶

float cyi(int level = 0) const¶

double timestamp() const¶: Returns the frame’s recording timestamp.

float *image(int level = 0)¶

const Eigen::Vector4f *gradients(int level = 0)¶

const float *maxGradients(int level = 0)¶

bool hasIDepthBeenSet() const¶

const float *idepth(int level = 0)¶

const float *idepthVar(int level = 0)¶

const unsigned char *validity_reAct()¶

const float *idepth_reAct()¶

const float *idepthVar_reAct()¶

bool *refPixelWasGood()¶

bool *refPixelWasGoodNoCreate()¶

void clear_refPixelWasGood()¶

boost::shared_lock<boost::shared_mutex> getActiveLock()¶

Sim3 getCamToWorld()¶

void setTrackingParent(const std::shared_ptr<KeyFrame> &newParent)¶

bool hasTrackingParent() const¶

const std::shared_ptr<KeyFrame> &trackingParent() const¶

bool isTrackingParent(const std::shared_ptr<Frame> &other) const¶

cv::Mat getCvImage()¶

bool isTrackingParent(const std::shared_ptr<KeyFrame> &other) const¶

bool isTrackingParent(int id) const¶

Public Members

std::mutex frameMutex¶

FramePoseStruct::SharedPtr pose¶

Sim3 lastConstraintTrackedCamToWorld¶

int referenceID¶

int referenceLevel¶

float distSquared¶

Eigen::Matrix3f K_otherToThis_R¶

Eigen::Vector3f K_otherToThis_t¶

Eigen::Vector3f otherToThis_t¶

Eigen::Vector3f K_thisToOther_t¶

Eigen::Matrix3f thisToOther_R¶

Eigen::Vector3f otherToThis_R_row0¶

Eigen::Vector3f otherToThis_R_row1¶

Eigen::Vector3f otherToThis_R_row2¶

Eigen::Vector3f thisToOther_t¶

float initialTrackedResidual¶

float meanIdepth¶

int numPoints¶

int idxInKeyframes¶

float edgeErrorSum¶

float edgesNum¶

int numMappablePixels¶

float meanInformation¶

Friends

friend lsd_slam::Frame::FrameMemory