Class Frame

include/Frame.h:53–370

class ORBextractor;

class Frame
{
public:
    Frame();

    // Copy constructor.
    Frame(const Frame &frame);

    // Constructor for stereo cameras.
    Frame(const cv::Mat &imLeft, const cv::Mat &imRight, const double &timeStamp, ORBextractor* extractorLeft, ORBextractor* extractorRight, ORBVocabulary* voc, cv::Mat &K, cv::Mat &distCoef, const float &bf, const float &thDepth, GeometricCamera* pCamera,Frame* pPrevF = static_cast<Frame*>(NULL), const IMU::Calib &ImuCalib = IMU::Calib());

    // Constructor for RGB-D cameras.
    Frame(const cv::Mat &imGray, const cv::Mat &imDepth, const double &timeStamp, ORBextractor* extractor,ORBVocabulary* voc, cv::Mat &K, cv::Mat &distCoef, const float &bf, const float &thDepth, GeometricCamera* pCamera,Frame* pPrevF = static_cast<Frame*>(NULL), const IMU::Calib &ImuCalib = IMU::Calib());

    // Constructor for Monocular cameras.
    Frame(const cv::Mat &imGray, const double &timeStamp, ORBextractor* extractor,ORBVocabulary* voc, GeometricCamera* pCamera, cv::Mat &distCoef, const float &bf, const float &thDepth, Frame* pPrevF = static_cast<Frame*>(NULL), const IMU::Calib &ImuCalib = IMU::Calib());

    // Destructor
    // ~Frame();

    // Extract ORB on the image. 0 for left image and 1 for right image.
    void ExtractORB(int flag, const cv::Mat &im, const int x0, const int x1);

    // Compute Bag of Words representation.
    void ComputeBoW();

    // Set the camera pose. (Imu pose is not modified!)
    void SetPose(const Sophus::SE3<float> &Tcw);

    // Set IMU velocity
    void SetVelocity(Eigen::Vector3f Vw);

    Eigen::Vector3f GetVelocity() const;

    // Set IMU pose and velocity (implicitly changes camera pose)
    void SetImuPoseVelocity(const Eigen::Matrix3f &Rwb, const Eigen::Vector3f &twb, const Eigen::Vector3f &Vwb);

    Eigen::Matrix<float,3,1> GetImuPosition() const;
    Eigen::Matrix<float,3,3> GetImuRotation();
    Sophus::SE3<float> GetImuPose();

    Sophus::SE3f GetRelativePoseTrl();
    Sophus::SE3f GetRelativePoseTlr();
    Eigen::Matrix3f GetRelativePoseTlr_rotation();
    Eigen::Vector3f GetRelativePoseTlr_translation();

    void SetNewBias(const IMU::Bias &b);

    // Check if a MapPoint is in the frustum of the camera
    // and fill variables of the MapPoint to be used by the tracking
    bool isInFrustum(MapPoint* pMP, float viewingCosLimit);

    bool ProjectPointDistort(MapPoint* pMP, cv::Point2f &kp, float &u, float &v);

    Eigen::Vector3f inRefCoordinates(Eigen::Vector3f pCw);

    // Compute the cell of a keypoint (return false if outside the grid)
    bool PosInGrid(const cv::KeyPoint &kp, int &posX, int &posY);