Method KeyFrame

src/KeyFrame.cc:29–43

long unsigned int KeyFrame::nNextId=0;

KeyFrame::KeyFrame():
        mnFrameId(0),  mTimeStamp(0), mnGridCols(FRAME_GRID_COLS), mnGridRows(FRAME_GRID_ROWS),
        mfGridElementWidthInv(0), mfGridElementHeightInv(0),
        mnTrackReferenceForFrame(0), mnFuseTargetForKF(0), mnBALocalForKF(0), mnBAFixedForKF(0), mnBALocalForMerge(0),
        mnLoopQuery(0), mnLoopWords(0), mnRelocQuery(0), mnRelocWords(0), mnMergeQuery(0), mnMergeWords(0), mnBAGlobalForKF(0),
        fx(0), fy(0), cx(0), cy(0), invfx(0), invfy(0), mnPlaceRecognitionQuery(0), mnPlaceRecognitionWords(0), mPlaceRecognitionScore(0),
        mbf(0), mb(0), mThDepth(0), N(0), mvKeys(static_cast<vector<cv::KeyPoint> >(NULL)), mvKeysUn(static_cast<vector<cv::KeyPoint> >(NULL)),
        mvuRight(static_cast<vector<float> >(NULL)), mvDepth(static_cast<vector<float> >(NULL)), mnScaleLevels(0), mfScaleFactor(0),
        mfLogScaleFactor(0), mvScaleFactors(0), mvLevelSigma2(0), mvInvLevelSigma2(0), mnMinX(0), mnMinY(0), mnMaxX(0),
        mnMaxY(0), mPrevKF(static_cast<KeyFrame*>(NULL)), mNextKF(static_cast<KeyFrame*>(NULL)), mbFirstConnection(true), mpParent(NULL), mbNotErase(false),
        mbToBeErased(false), mbBad(false), mHalfBaseline(0), mbCurrentPlaceRecognition(false), mnMergeCorrectedForKF(0),
        NLeft(0),NRight(0), mnNumberOfOpt(0), mbHasVelocity(false)
{

}

KeyFrame::KeyFrame(Frame &F, Map *pMap, KeyFrameDatabase *pKFDB):
    bImu(pMap->isImuInitialized()), mnFrameId(F.mnId),  mTimeStamp(F.mTimeStamp), mnGridCols(FRAME_GRID_COLS), mnGridRows(FRAME_GRID_ROWS),