Inheritance diagram for PinholeFrameObject:

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Collaboration diagram for PinholeFrameObject:

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

Public Types inherited from FrameObject
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
	PinholeFrameObject (int ID, uint32_t Timestamp=0)
	Construct a new PinholeFrameObject object. More...

	~PinholeFrameObject ()
	Destroy the Pinhole Frame Object object.

virtual bool	load (JsonNode &fs) override

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

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

Public Member Functions inherited from FrameObject
	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, 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 Ptr	Create (int ID, const cv::Mat &CameraMatrix, const cv::Mat &DistCoeff, int MapID, uint32_t Timestamp=0, const cv::Mat &RGBMat=cv::Mat(), const cv::Mat &XYZMat=cv::Mat())
	Create the PinholeFrameObject object. More...

Static Public Member Functions inherited from FrameObject
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::Mat1d	CameraMatrix
	Camera intrinsic matrix.

cv::Mat1d	DistCoeff
	camera distortion parameters

Public Attributes inherited from FrameObject
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.

Additional Inherited Members
Protected Types inherited from FrameObject
using	MapPointInfo = std::tuple< std::weak_ptr< MapPointObject >, Eigen::Vector4d, int >

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...

Protected Attributes inherited from FrameObject
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

Constructor & Destructor Documentation

◆ PinholeFrameObject()

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

Construct a new PinholeFrameObject object.

Parameters

ID	unique frame ID

Member Function Documentation

◆ Create() [1/2]

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

static

Create the PinholeFrameObject object.

Parameters

ID	unique frame ID
CameraMatrix	Camera intrinsic matrix
DistCoeff	Camera distortion parameters
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]

PinholeFrameObject::Ptr PinholeFrameObject::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

◆ load()

bool PinholeFrameObject::load ( JsonNode & fs )

overridevirtual

Parameters

fs

Returns: true; false

Bug:: the shared states between multiple same intrinsic matrix and distortion coefficient will lost.

Reimplemented from FrameObject.

◆ save()

bool PinholeFrameObject::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

Reimplemented from FrameObject.

◆ type_name()

std::string PinholeFrameObject::type_name ( )

overridevirtual

get the typename.

Returns

Reimplemented from FrameObject.

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

Additional Inherited Members

Constructor & Destructor Documentation

◆ PinholeFrameObject()

Member Function Documentation

◆ Create() [1/2]

◆ Create() [2/2]

◆ load()

◆ save()

◆ type_name()