svo::Frame Class Reference

A frame saves the image, the associated features and the estimated pose. More...

#include <frame.h>

List of all members.

Public Member Functions
	Frame (vk::AbstractCamera *cam, const cv::Mat &img, double timestamp)
	~Frame ()
void	initFrame (const cv::Mat &img)
	Initialize new frame and create image pyramid.
void	setKeyframe ()
	Select this frame as keyframe.
void	addFeature (Feature *ftr)
	Add a feature to the image.
void	setKeyPoints ()
	The KeyPoints are those five features which are closest to the 4 image corners and to the center and which have a 3D point assigned.
void	checkKeyPoints (Feature *ftr)
	Check if we can select five better key-points.
void	removeKeyPoint (Feature *ftr)
	If a point is deleted, we must remove the corresponding key-point.
size_t	nObs () const
	Return number of point observations.
bool	isVisible (const Vector3d &xyz_w) const
	Check if a point in (w)orld coordinate frame is visible in the image.
const cv::Mat &	img () const
	Full resolution image stored in the frame.
bool	isKeyframe () const
	Was this frame selected as keyframe?
Vector2d	w2c (const Vector3d &xyz_w) const
	Transforms point coordinates in world-frame (w) to camera pixel coordinates (c).
Vector3d	c2f (const Vector2d &px) const
	Transforms pixel coordinates (c) to frame unit sphere coordinates (f).
Vector3d	c2f (const double x, const double y) const
	Transforms pixel coordinates (c) to frame unit sphere coordinates (f).
Vector3d	w2f (const Vector3d &xyz_w) const
	Transforms point coordinates in world-frame (w) to camera-frams (f).
Vector3d	f2w (const Vector3d &f) const
	Transforms point from frame unit sphere (f) frame to world coordinate frame (w).
Vector2d	f2c (const Vector3d &f) const
	Projects Point from unit sphere (f) in camera pixels (c).
Vector3d	pos () const
	Return the pose of the frame in the (w)orld coordinate frame.
Static Public Member Functions
static void	jacobian_xyz2uv (const Vector3d &xyz_in_f, Matrix< double, 2, 6 > &J)
	Frame jacobian for projection of 3D point in (f)rame coordinate to unit plane coordinates uv (focal length = 1).
Public Attributes
int	id_
	Unique id of the frame.
double	timestamp_
	Timestamp of when the image was recorded.
vk::AbstractCamera *	cam_
	Camera model.
Sophus::SE3	T_f_w_
	Transform (f)rame from (w)orld.
Matrix< double, 6, 6 >	Cov_
	Covariance.
ImgPyr	img_pyr_
	Image Pyramid.
Features	fts_
	List of features in the image.
vector< Feature * >	key_pts_
	Five features and associated 3D points which are used to detect if two frames have overlapping field of view.
bool	is_keyframe_
	Was this frames selected as keyframe?
g2oFrameSE3 *	v_kf_
	Temporary pointer to the g2o node object of the keyframe.
int	last_published_ts_
	Timestamp of last publishing.
Static Public Attributes
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW int	frame_counter_
	Counts the number of created frames. Used to set the unique id.

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Detailed Description

A frame saves the image, the associated features and the estimated pose.

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Constructor & Destructor Documentation

svo::Frame::Frame	(	vk::AbstractCamera *	cam,
		const cv::Mat &	img,
		double	timestamp
	)

svo::Frame::~Frame

(

)

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Member Function Documentation

void svo::Frame::addFeature

(

Feature *

ftr

)

Add a feature to the image.

Vector3d svo::Frame::c2f

(

const Vector2d &

px

)

const [inline]

Transforms pixel coordinates (c) to frame unit sphere coordinates (f).

Vector3d svo::Frame::c2f	(	const double	x,
		const double	y
	)		const [inline]

Transforms pixel coordinates (c) to frame unit sphere coordinates (f).

void svo::Frame::checkKeyPoints

(

Feature *

ftr

)

Check if we can select five better key-points.

Vector2d svo::Frame::f2c

(

const Vector3d &

f

)

const [inline]

Projects Point from unit sphere (f) in camera pixels (c).

Vector3d svo::Frame::f2w

(

const Vector3d &

f

)

const [inline]

Transforms point from frame unit sphere (f) frame to world coordinate frame (w).

const cv::Mat& svo::Frame::img

(

)

const [inline]

Full resolution image stored in the frame.

void svo::Frame::initFrame

(

const cv::Mat &

img

)

Initialize new frame and create image pyramid.

bool svo::Frame::isKeyframe

(

)

const [inline]

Was this frame selected as keyframe?

bool svo::Frame::isVisible

(

const Vector3d &

xyz_w

)

const

Check if a point in (w)orld coordinate frame is visible in the image.

static void svo::Frame::jacobian_xyz2uv	(	const Vector3d &	xyz_in_f,
		Matrix< double, 2, 6 > &	J
	)		[inline, static]

Frame jacobian for projection of 3D point in (f)rame coordinate to unit plane coordinates uv (focal length = 1).

size_t svo::Frame::nObs

(

)

const [inline]

Return number of point observations.

Vector3d svo::Frame::pos

(

)

const [inline]

Return the pose of the frame in the (w)orld coordinate frame.

void svo::Frame::removeKeyPoint

(

Feature *

ftr

)

If a point is deleted, we must remove the corresponding key-point.

void svo::Frame::setKeyframe

(

)

Select this frame as keyframe.

void svo::Frame::setKeyPoints

(

)

The KeyPoints are those five features which are closest to the 4 image corners and to the center and which have a 3D point assigned.

These points are used to quickly check whether two frames have overlapping field of view.

Vector2d svo::Frame::w2c

(

const Vector3d &

xyz_w

)

const [inline]

Transforms point coordinates in world-frame (w) to camera pixel coordinates (c).

Vector3d svo::Frame::w2f

(

const Vector3d &

xyz_w

)

const [inline]

Transforms point coordinates in world-frame (w) to camera-frams (f).

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Member Data Documentation

vk::AbstractCamera* svo::Frame::cam_

Camera model.

Matrix<double, 6, 6> svo::Frame::Cov_

Covariance.

EIGEN_MAKE_ALIGNED_OPERATOR_NEW int svo::Frame::frame_counter_ [static]

Counts the number of created frames. Used to set the unique id.

Features svo::Frame::fts_

List of features in the image.

int svo::Frame::id_

Unique id of the frame.

ImgPyr svo::Frame::img_pyr_

Image Pyramid.

bool svo::Frame::is_keyframe_

Was this frames selected as keyframe?

vector<Feature*> svo::Frame::key_pts_

Five features and associated 3D points which are used to detect if two frames have overlapping field of view.

int svo::Frame::last_published_ts_

Timestamp of last publishing.

Sophus::SE3 svo::Frame::T_f_w_

Transform (f)rame from (w)orld.

double svo::Frame::timestamp_

Timestamp of when the image was recorded.

g2oFrameSE3* svo::Frame::v_kf_

Temporary pointer to the g2o node object of the keyframe.

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

• include/svo/frame.h