FW: from a frame
| 44 | |
| 45 | // FW: from a frame |
| 46 | keyframe::keyframe(const frame &frm, map_database *map_db, bow_database *bow_db) |
| 47 | : // meta information |
| 48 | id_(next_id_++), src_frm_id_(frm.id_), timestamp_(frm.timestamp_), |
| 49 | // camera parameters |
| 50 | camera_(frm.camera_), depth_thr_(frm.depth_thr_), |
| 51 | // constant observations |
| 52 | num_keypts_(frm.num_keypts_), keypts_(frm.keypts_), undist_keypts_(frm.undist_keypts_), bearings_(frm.bearings_), |
| 53 | keypt_indices_in_cells_(frm.keypt_indices_in_cells_), |
| 54 | stereo_x_right_(frm.stereo_x_right_), depths_(frm.depths_), descriptors_(frm.descriptors_.clone()), |
| 55 | // BoW |
| 56 | bow_vec_(frm.bow_vec_), bow_feat_vec_(frm.bow_feat_vec_), |
| 57 | // covisibility graph node (connections is not assigned yet) |
| 58 | graph_node_(std::unique_ptr<graph_node>(new graph_node(this, true))), |
| 59 | // ORB scale pyramid |
| 60 | num_scale_levels_(frm.num_scale_levels_), scale_factor_(frm.scale_factor_), |
| 61 | log_scale_factor_(frm.log_scale_factor_), scale_factors_(frm.scale_factors_), |
| 62 | level_sigma_sq_(frm.level_sigma_sq_), inv_level_sigma_sq_(frm.inv_level_sigma_sq_), |
| 63 | // FW: |
| 64 | _keylsd(frm._keylsd), _lbd_descr(frm._lbd_descr.clone()), |
| 65 | _keyline_functions(frm._keyline_functions), _num_keylines(frm._num_keylines), |
| 66 | _depths_cooresponding_to_keylines(frm._depths_cooresponding_to_keylines), |
| 67 | _stereo_x_right_cooresponding_to_keylines(frm._stereo_x_right_cooresponding_to_keylines), |
| 68 | // FW: |
| 69 | _keylsd_right(frm._keylsd_right), _lbd_descr_right(frm._lbd_descr_right), |
| 70 | _keyline_functions_right(frm._keyline_functions_right), _good_matches_stereo(frm._good_matches_stereo), |
| 71 | // FW: |
| 72 | _num_scale_levels_lsd(frm._num_scale_levels_lsd), _scale_factor_lsd(frm._scale_factor_lsd), |
| 73 | _log_scale_factor_lsd(frm._log_scale_factor_lsd), _scale_factors_lsd(frm._scale_factors_lsd), |
| 74 | _inv_scale_factors_lsd(frm._inv_scale_factors_lsd), _level_sigma_sq_lsd(frm._level_sigma_sq_lsd), |
| 75 | _inv_level_sigma_sq_lsd(frm._inv_level_sigma_sq_lsd), |
| 76 | // observations |
| 77 | landmarks_(frm.landmarks_), |
| 78 | // FW: |
| 79 | _landmarks_line(frm._landmarks_line), |
| 80 | // databases |
| 81 | map_db_(map_db), bow_db_(bow_db), bow_vocab_(frm.bow_vocab_) |
| 82 | { |
| 83 | // set pose parameters (cam_pose_wc_, cam_center_) using frm.cam_pose_cw_ |
| 84 | set_cam_pose(frm.cam_pose_cw_); |
| 85 | } |
| 86 | |
| 87 | // FW: from map loading |
| 88 | keyframe::keyframe(const unsigned int id, const unsigned int src_frm_id, const double timestamp, |
nothing calls this directly
no test coverage detected