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...

#include <FrameObject.h>

Inheritance diagram for FrameObject::RelatedFrameInfo:

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Collaboration diagram for FrameObject::RelatedFrameInfo:

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Public Types
using	Ptr = std::shared_ptr< RelatedFrameInfo >
	shared pointer.

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

Public Member Functions
std::shared_ptr< FrameObject >	getRelatedFrame ()
	get the pointer of related frame. More...

bool	setRelatedFrame (FrameObject::Ptr frame)
	set the shared pointer of related frame. More...

bool	isFrameExist ()
	query wether the frame exist. usually the frame exist when the frame info exist, but there might be some garbage collection errors, during development. this method is to make sure that the frame dose exist. More...

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

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

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

	RelatedFrameInfo ()
	Construct a new Related Frame Info object.

	RelatedFrameInfo (std::shared_ptr< FrameObject > RelatedFrame)
	Construct a new Frameinfo object. instead of call this method, it is better to construct new frame info object with Createmethod. More...

	~RelatedFrameInfo ()
	Destroy the object.

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 (std::shared_ptr< FrameObject > RelatedFrame)
	create the shared pointer of relatedframeinfo. More...

static Ptr	Create (std::shared_ptr< FrameObject > RelatedFrame, std::shared_ptr< Sophus::SE3d > Pose, double sigma=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 Ptr	Create (std::shared_ptr< FrameObject > RelatedFrame, const std::vector< cv::DMatch > &KeyPointMatch)
	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
std::shared_ptr< Sophus::SE3d >	Pose
	shared pointer of pose. More...

double	sigma
	variance of pose.

std::vector< cv::DMatch >	KeyPointMatch
	matched feature points.

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

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...

Detailed Description

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.

Constructor & Destructor Documentation

◆ RelatedFrameInfo()

FrameObject::RelatedFrameInfo::RelatedFrameInfo ( std::shared_ptr< FrameObject > RelatedFrame )

Construct a new Frameinfo object. instead of call this method, it is better to construct new frame info object with **Create**method.

Parameters

RelatedFrame

Member Function Documentation

◆ Create() [1/3]

FrameObject::RelatedFrameInfo::Ptr FrameObject::RelatedFrameInfo::Create ( std::shared_ptr< FrameObject > RelatedFrame )

static

create the shared pointer of relatedframeinfo.

Parameters

RelatedFrame shared pointer of related frame.

Returns: shared pointer, return empty pointer when create failed.

◆ Create() [2/3]

FrameObject::RelatedFrameInfo::Ptr FrameObject::RelatedFrameInfo::Create	(	std::shared_ptr< FrameObject >	RelatedFrame,
		const std::vector< cv::DMatch > &	KeyPointMatch
	)

static

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

Parameters

RelatedFrame
KeyPointMatch

Returns

◆ Create() [3/3]

FrameObject::RelatedFrameInfo::Ptr FrameObject::RelatedFrameInfo::Create	(	std::shared_ptr< FrameObject >	RelatedFrame,
		std::shared_ptr< Sophus::SE3d >	Pose,
		double	sigma = `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

RelatedFrame
Pose
sigma

Returns

◆ getRelatedFrame()

std::shared_ptr< FrameObject > FrameObject::RelatedFrameInfo::getRelatedFrame ( )

get the pointer of related frame.

Returns: shared pointer of related frame, return empty pointer if the frame is not exist.

◆ isFrameExist()

bool FrameObject::RelatedFrameInfo::isFrameExist ( )

query wether the frame exist. usually the frame exist when the frame info exist, but there might be some garbage collection errors, during development. this method is to make sure that the frame dose exist.

Returns: wether the frame exist.

◆ load()

bool FrameObject::RelatedFrameInfo::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.

◆ save()

bool FrameObject::RelatedFrameInfo::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.

◆ setRelatedFrame()

bool FrameObject::RelatedFrameInfo::setRelatedFrame ( FrameObject::Ptr frame )

set the shared pointer of related frame.

Parameters

frame

Returns

◆ type_name()

std::string FrameObject::RelatedFrameInfo::type_name ( )

overridevirtual

get the typename.

Returns

Reimplemented from MVSObject.

Member Data Documentation

◆ Pose

std::shared_ptr<Sophus::SE3d> FrameObject::RelatedFrameInfo::Pose

shared pointer of pose.

the pose is the pose between current frame and related frame, many related frame may share the same pose, that is when in pose optimization process, all the pointer that point to the same pose will be optimized as one coeefficient.

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

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RelatedFrameInfo()

Member Function Documentation

◆ Create() [1/3]

◆ Create() [2/3]

◆ Create() [3/3]

◆ getRelatedFrame()

◆ isFrameExist()

◆ load()

◆ save()

◆ setRelatedFrame()

◆ type_name()

Member Data Documentation

◆ Pose