| 39 | }; |
| 40 | |
| 41 | struct KeyframeInfo { |
| 42 | public: |
| 43 | KeyframeInfo() = default; |
| 44 | ~KeyframeInfo() = default; |
| 45 | |
| 46 | KeyframeInfo(const int64_t& keyframe_index, |
| 47 | const cv::Mat& image, |
| 48 | const Eigen::Vector3d& translation, |
| 49 | const Eigen::Matrix3d& rotation, |
| 50 | const TrackingInfo& tracking_info, |
| 51 | const std::vector<cv::Point3f>& keyframe_points, |
| 52 | const std::vector<cv::KeyPoint>& keypoints, |
| 53 | const std::vector<Eigen::Vector3i>& points_ids, |
| 54 | const std::vector<std::vector<int64_t>>& points_covisibilities) |
| 55 | : keyframe_index_(keyframe_index), |
| 56 | keyframe_image_(image), |
| 57 | translation_(translation), |
| 58 | rotation_(rotation), |
| 59 | tracking_info_(tracking_info), |
| 60 | keyfame_points_(keyframe_points), |
| 61 | cv_keypoints_(keypoints), |
| 62 | keypoint_ids_(points_ids), |
| 63 | point_covisibilities_(points_covisibilities) { |
| 64 | timestamp_ = tracking_info_.timestamp_; |
| 65 | }; |
| 66 | |
| 67 | KeyframeInfo(const Timestamp& timestamp, |
| 68 | const int64_t& keyframe_index, |
| 69 | const cv::Mat& image, |
| 70 | const Eigen::Vector3d& translation, |
| 71 | const Eigen::Matrix3d& rotation, |
| 72 | const std::vector<cv::Point3f>& keyframe_points, |
| 73 | const std::vector<cv::KeyPoint>& keypoints, |
| 74 | const std::vector<Eigen::Vector3i>& points_ids, |
| 75 | const std::vector<std::vector<int64_t>>& points_observations) |
| 76 | : timestamp_(timestamp), |
| 77 | keyframe_index_(keyframe_index), |
| 78 | keyframe_image_(image), |
| 79 | translation_(translation), |
| 80 | rotation_(rotation), |
| 81 | keyfame_points_(keyframe_points), |
| 82 | cv_keypoints_(keypoints), |
| 83 | keypoint_ids_(points_ids), |
| 84 | point_covisibilities_(points_observations){}; |
| 85 | |
| 86 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
| 87 | Timestamp timestamp_; |
| 88 | int64_t keyframe_index_; |
| 89 | cv::Mat keyframe_image_; |
| 90 | Eigen::Vector3d translation_; |
| 91 | Eigen::Matrix3d rotation_; |
| 92 | TrackingInfo tracking_info_; |
| 93 | std::vector<cv::Point3f> keyfame_points_; |
| 94 | std::vector<cv::KeyPoint> cv_keypoints_; |
| 95 | // @Reloc: landmarkId, mfId, keypointIdx related to each point |
| 96 | std::vector<Eigen::Vector3i> keypoint_ids_; |
| 97 | std::vector<std::vector<int64_t>> point_covisibilities_; |
| 98 | }; |
nothing calls this directly
no outgoing calls
no test coverage detected