Inheritance diagram for FrameObject:

[legend]

Collaboration diagram for FrameObject:

Classes
class	RelatedFrameInfo
	the related frame info class, related frame can be defined as the frames that have common field of views. which store Interframe information such as pose between two frames, prior believe of the pose, and the matched keypoints between frames. More...

Public Types
using	Ptr = std::shared_ptr< FrameObject >

Public Types inherited from DataFlowObject
using	Ptr = std::shared_ptr< DataFlowObject >
	the shared pointer type of DataFlowObject

Public Member Functions
	FrameObject ()
	Construct a new Frame Object object.

	FrameObject (int ID, uint32_t Timestamp=0)
	Construct a new Frame Object object. More...

virtual	~FrameObject ()
	Destroy the Frame Object object.

int	getID ()
	Get the Frame ID. More...

uint32_t	getTimestamp ()
	Get the timestamp. More...

bool	setTimestamp (uint32_t time)
	set the timestamp. More...

bool	setBestFrame (RelatedFrameInfo::Ptr FramePtr)
	set the best frame, the best camera pair is the camera that will be used during dual camera dense reconstruction. the best frame should be set after pose reconstruction in mono camera scenario, or be set when the frame is generated in dual camera or RGBD camera scenario. More...

RelatedFrameInfo::Ptr	getBestFrame ()
	get the best frame. More...

bool	addRelatedFrame (RelatedFrameInfo::Ptr FramePtr)
	add relate frame, the related frame is the frame with common field of view, it may because the two frames have matched feature points, or because the two frames are created from an dual cameras, or RGBD camera. More...

bool	removeRelatedFrame (int FrameID)
	remove the related camera frame, the related camera frame is the frame which has the common filed of view with current frame. More...

bool	removeAllRelatedFrames ()
	remove all of the related camera frame of current frame. More...

bool	updateRelatedFrame (RelatedFrameInfo::Ptr FramePtr)
	update related frame. More...

RelatedFrameInfo::Ptr	getRelatedFrame (int FrameID)
	Get the Related Frame object. More...

bool	getAllRelatedFrames (std::set< RelatedFrameInfo::Ptr > &Frames)
	Get all the Related Frames object. More...

bool	getAllRelatedFrames (std::set< int > &FrameID)
	get all the related frame id. More...

int	hasRelatedFrame ()

bool	addMapPoint (int KeyPointID, std::shared_ptr< MapPointObject > MapPoint, const Eigen::Vector4d &LocalCoordinate)
	add frame observed map point More...

bool	removeMapPoint (int KeyPointID)
	remove map point from frame More...

bool	removeAllMapPoints ()
	remove all map points More...

bool	getMapPoint (int KeyPointID, std::shared_ptr< MapPointObject > &MapPoint, Eigen::Vector4d &LocalCoordinate)
	Get the Map Point object. More...

bool	getMapPoint (int KeyPointID, int &MappointID, Eigen::Vector4d &LocalCoordinate)
	get mappoint id related to keypoint. More...

std::shared_ptr< MapPointObject >	getMapPoint (int KeyPointID)
	Get the Map Point object.

bool	hasMappoint (int KeyPointID)

bool	getAllMappointID (std::set< int > &KeyPointID)
	get all keypoint id related to mappoint. More...

bool	updateMapPoint (int KeyPointID, std::shared_ptr< MapPointObject > MapPoint, const Eigen::Vector4d &LocalCoordinate)
	update the map point More...

virtual bool	load (JsonNode &fs) override
	load data and settings from file More...

virtual bool	save (JsonNode &fs) override
	save data and settings to file More...

virtual std::string	type_name () override
	get the typename. More...

Sophus::SE3d	getGlobalPose ()

void	setGlobalPose (Sophus::SE3d &pose)

Sophus::SE3d &	GlobalPose ()

bool	isGlobalPoseKnown ()

Public Member Functions inherited from DataFlowObject
	DataFlowObject ()
	Construct a new Data Flow Object object.

virtual	~DataFlowObject ()
	Destroy the Data Flow Object object.

Public Member Functions inherited from MVSObject
	MVSObject ()
	Construct a new MVSObject object.

virtual	~MVSObject ()
	Destroy the MVSObject object.

virtual bool	save (JsonNode &fs)=0
	save data and settings to file More...

virtual bool	load (JsonNode &fs)=0
	load data and settings from file More...

virtual std::string	type_name ()
	get the typename. More...

Static Public Member Functions
static Ptr	Create (int ID, int MapID, const cv::Mat &RGBMat, uint32_t Timestamp=0, const cv::Mat &XYZMat=cv::Mat())
	Create FrameObject object. More...

static Ptr	Create (int ID, int MapID, uint32_t Timestamp=0)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

Static Public Member Functions inherited from DataFlowObject
static void	cvMat2Sophus (const cv::Mat1d &Mat, Sophus::SE3d &Pose)
	create shared pointer of DataFlowObject, do NOT use this method directly, use the Create() method in derived class. More...

static void	Sophus2cvMat (const Sophus::SE3d &pose, cv::Mat1d &Mat)

static cv::Mat1d	Rt2T (const cv::Mat1d &R, const cv::Mat1d &t)

static std::tuple< cv::Mat1d, cv::Mat1d >	T2Rt (const cv::Mat1d &T)

Public Attributes
cv::Mat	RGBMat
	the RGB image in the current frame the current frame may NOT contain RGB frame, if the frame is created by projectors, the RGB image is empty.

cv::Mat	XYZMat
	the depth map in the current frame the current frame may contain depth map when it is created, if the frame is created by RGBD cameras, the original depth map will be stored here when frame is created.

std::vector< cv::KeyPoint >	KeyPoints
	vector of KeyPoints

cv::Mat	KeyPointsDescriptors
	KeyPoints descriptors, the storeage details is the same as it in OpenCV the details can be seen in OpenCV documents.

DBoW2::BowVector	BoWDescriptors
	the Bag of Words descriptor of the current frame.

int	MapID = -1
	this variable indicate which submap this frame belong.

Protected Types
using	MapPointInfo = std::tuple< std::weak_ptr< MapPointObject >, Eigen::Vector4d, int >

Protected Attributes
int	FrameID

uint32_t	Timestamp

RelatedFrameInfo::Ptr	BestCamera
	pointer of the related frame, the pose of related frame, the pose confidence of related frame (-1 means invalid)

std::map< int, RelatedFrameInfo::Ptr >	RelatedFrame
	int is the frame ID, the second is the related frame pointer. the related frame pose might inaccurate once the global pose is found.

std::map< int, MapPointInfo >	ObservedMapPoints

bool	KnownPose = false

Friends
std::ostream &	operator<< (std::ostream &os, FrameObject &frame)

Additional Inherited Members
Protected Member Functions inherited from MVSObject
bool	isDirExist (std::string path)
	check if the directory is exist. More...

bool	mkdir (std::string path)
	create directory in given path. More...

Constructor & Destructor Documentation

◆ FrameObject()

FrameObject::FrameObject	(	int	ID,
		uint32_t	Timestamp = `0`
	)

Construct a new Frame Object object.

Parameters

ID	unique frame ID

Member Function Documentation

◆ addMapPoint()

bool FrameObject::addMapPoint	(	int	KeyPointID,
		std::shared_ptr< MapPointObject >	MapPoint,
		const Eigen::Vector4d &	LocalCoordinate
	)

add frame observed map point

Parameters

KeyPointID	map point related key point ID
MapPoint	Pointer of map point
LocalCoordinate	map point coordinate in the current camera frame

Returns: true add successfully; false add failed

◆ addRelatedFrame()

bool FrameObject::addRelatedFrame ( RelatedFrameInfo::Ptr FramePtr )

add relate frame, the related frame is the frame with common field of view, it may because the two frames have matched feature points, or because the two frames are created from an dual cameras, or RGBD camera.

Parameters

FramePtr the shared pointer of related frame.

Returns: true the frame is successfully created.; false failed to create the frame, may because the related frame already exist.

◆ Create() [1/2]

FrameObject::Ptr FrameObject::Create	(	int	ID,
		int	MapID,
		const cv::Mat &	RGBMat,
		uint32_t	Timestamp = `0`,
		const cv::Mat &	XYZMat = `cv::Mat()`
	)

static

Create FrameObject object.

Parameters

ID	Unique frame ID
the	map ID, which is assigned by GlobalMap
RGBMat	the undistorted RGB image.
XYZMap	the XYZ map or depth map, the RGBD camera may already compute the original depth map when frame is created.

Returns: Ptr

◆ Create() [2/2]

FrameObject::Ptr FrameObject::Create	(	int	ID,
		int	MapID,
		uint32_t	Timestamp = `0`
	)

static

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Parameters

ID

Returns: Ptr

◆ getAllMappointID()

bool FrameObject::getAllMappointID ( std::set< int > & KeyPointID )

get all keypoint id related to mappoint.

Parameters

KeyPointID output set of keypoint ID.

Returns: if get KeyPointID

◆ getAllRelatedFrames() [1/2]

bool FrameObject::getAllRelatedFrames ( std::set< int > & FrameID )

get all the related frame id.

Parameters

FrameID

Returns

◆ getAllRelatedFrames() [2/2]

bool FrameObject::getAllRelatedFrames ( std::set< RelatedFrameInfo::Ptr > & Frames )

Get all the Related Frames object.

Parameters

Frames array of the shared pointer of the frame

Returns: true has related frames; false do NOT have related frames

◆ getBestFrame()

FrameObject::RelatedFrameInfo::Ptr FrameObject::getBestFrame ( )

get the best frame.

Returns: the shared pointer of the best frame, the pointer will be empty when no frame exist.

◆ getID()

int FrameObject::getID ( )

Get the Frame ID.

Returns: int Frame ID

◆ getMapPoint() [1/2]

bool FrameObject::getMapPoint	(	int	KeyPointID,
		int &	MappointID,
		Eigen::Vector4d &	LocalCoordinate
	)

get mappoint id related to keypoint.

Parameters

KeyPointID

Returns

◆ getMapPoint() [2/2]

bool FrameObject::getMapPoint	(	int	KeyPointID,
		std::shared_ptr< MapPointObject > &	MapPoint,
		Eigen::Vector4d &	LocalCoordinate
	)

Get the Map Point object.

Parameters

KeyPointID	input key point ID
MapPoint	output map point pointer
LocalCoordinate	output map point coordinate in local frame

Returns: true get successfully; false get failed

◆ getRelatedFrame()

FrameObject::RelatedFrameInfo::Ptr FrameObject::getRelatedFrame ( int FrameID )

Get the Related Frame object.

Parameters

FrameID frame ID

Returns: FrameObject::Ptr the shared pointer of the frame

◆ getTimestamp()

uint32_t FrameObject::getTimestamp ( )

Get the timestamp.

Returns: uint32 timestamp

◆ load()

bool FrameObject::load ( JsonNode & fs )

overridevirtual

load data and settings from file

this method will load data such as keypoints, descriptors, translation matrices in DataFlowObject and its sub-classes from the given JsonNode instance. or will load parameters and settings in WorkFlowObject and its sub-classes to the given JsonNode instance, and automatically initialize the WorkFlow with these parameters

Parameters

fs	the json handler

Returns: true load successfully; false load failed or initialization falied.

Implements MVSObject.

Reimplemented in PinholeFrameObject.

◆ removeAllMapPoints()

bool FrameObject::removeAllMapPoints ( )

remove all map points

Returns: true remove successfully; false remove failed

◆ removeAllRelatedFrames()

bool FrameObject::removeAllRelatedFrames ( )

remove all of the related camera frame of current frame.

Returns: true remove successfully; false remove failed, the current frame has no related camera frame.

◆ removeMapPoint()

bool FrameObject::removeMapPoint ( int KeyPointID )

remove map point from frame

Parameters

KeyPointID the map point related keypoint ID

Returns: true remove successfully; false remove failed

◆ removeRelatedFrame()

bool FrameObject::removeRelatedFrame ( int FrameID )

remove the related camera frame, the related camera frame is the frame which has the common filed of view with current frame.

Parameters

FrameID the ID of the frame to be removed

Returns: true remove successfully; false remove failed, the frame is not in the related camera frame list.

◆ save()

bool FrameObject::save ( JsonNode & fs )

overridevirtual

save data and settings to file

this method will save data such as keypoints, descriptors, translation matrices in DataFlowObject and its sub-classes to the given JsonNode instance, or will save parameters and settings in WorkFlowObject and its sub-classes to the given JsonNode instance.

Parameters

fs	the json handler

Returns: true save successfully; false save failed

Implements MVSObject.

Reimplemented in PinholeFrameObject.

◆ setBestFrame()

bool FrameObject::setBestFrame ( RelatedFrameInfo::Ptr FramePtr )

set the best frame, the best camera pair is the camera that will be used during dual camera dense reconstruction. the best frame should be set after pose reconstruction in mono camera scenario, or be set when the frame is generated in dual camera or RGBD camera scenario.

Parameters

the	shared pointer of best frame.

Returns: wether created succeefully.

◆ setTimestamp()

bool FrameObject::setTimestamp ( uint32_t time )

set the timestamp.

Parameters

time	the new timestamp

◆ type_name()

std::string FrameObject::type_name ( )

overridevirtual

get the typename.

Returns

Reimplemented from MVSObject.

Reimplemented in PinholeFrameObject.

◆ updateMapPoint()

bool FrameObject::updateMapPoint	(	int	KeyPointID,
		std::shared_ptr< MapPointObject >	MapPoint,
		const Eigen::Vector4d &	LocalCoordinate
	)

update the map point

Parameters

KeyPointID	input key point ID
MapPoint	input map point pointer
LocalCoordinate	input mappoint coordinate

Returns: true update successfully; false update failed, may because input error, and may also because of the map point dose NOT exsit in the frame

◆ updateRelatedFrame()

bool FrameObject::updateRelatedFrame ( RelatedFrameInfo::Ptr FramePtr )

update related frame.

Parameters

FramePtr

Returns

The documentation for this class was generated from the following files:

C:/Users/ZhouZishun/Documents/Workspace/EasyMVS/core/common/FrameObject.h
C:/Users/ZhouZishun/Documents/Workspace/EasyMVS/core/common/FrameObject.cpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Types

Protected Attributes

Friends

Additional Inherited Members

Constructor & Destructor Documentation

◆ FrameObject()

Member Function Documentation

◆ addMapPoint()

◆ addRelatedFrame()

◆ Create() [1/2]

◆ Create() [2/2]

◆ getAllMappointID()

◆ getAllRelatedFrames() [1/2]

◆ getAllRelatedFrames() [2/2]

◆ getBestFrame()

◆ getID()

◆ getMapPoint() [1/2]

◆ getMapPoint() [2/2]

◆ getRelatedFrame()

◆ getTimestamp()

◆ load()

◆ removeAllMapPoints()

◆ removeAllRelatedFrames()

◆ removeMapPoint()

◆ removeRelatedFrame()

◆ save()

◆ setBestFrame()

◆ setTimestamp()

◆ type_name()

◆ updateMapPoint()

◆ updateRelatedFrame()