A single camera frame equipped with keypoint detector / extractor. More...

#include <Frame.hpp>

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Frame ()
	a default constructor More...

	Frame (const cv::Mat &image, std::shared_ptr< cameras::CameraBase > &cameraGeometry, std::shared_ptr< cv::FeatureDetector > &detector, std::shared_ptr< cv::DescriptorExtractor > &extractor)
	A constructor that uses the image, specified geometry, detector and extractor. More...

virtual	~Frame ()
	A simple destructor. More...

void	setImage (const cv::Mat &image)
	Set the frame image;. More...

void	setGeometry (std::shared_ptr< const cameras::CameraBase > cameraGeometry)
	Set the geometry. More...

void	setDetector (std::shared_ptr< cv::FeatureDetector > detector)
	Set the detector. More...

void	setExtractor (std::shared_ptr< cv::DescriptorExtractor > extractor)
	Set the extractor. More...

const cv::Mat &	image () const
	Obtain the image. More...

std::shared_ptr< const cameras::CameraBase >	geometry () const
	get the base class geometry (will be slow to use) More...

template<class GEOMETRY_T >
std::shared_ptr< const GEOMETRY_T >	geometryAs () const
	Get the specific geometry (will be fast to use) More...

int	detect ()
	Detect keypoints. This uses virtual function calls. That's a negligibly small overhead for many detections. More...

int	describe (const Eigen::Vector3d &extractionDirection=Eigen::Vector3d(0, 0, 1))
	Describe keypoints. This uses virtual function calls. That's a negligibly small overhead for many detections. More...

template<class GEOMETRY_T >
int	describeAs (const Eigen::Vector3d &extractionDirection=Eigen::Vector3d(0, 0, 1))
	Describe keypoints. This uses virtual function calls. That's a negligibly small overhead for many detections. More...

bool	getCvKeypoint (size_t keypointIdx, cv::KeyPoint &keypoint) const
	Access a specific keypoint in OpenCV format. More...

bool	getKeypoint (size_t keypointIdx, Eigen::Vector2d &keypoint) const
	Get a specific keypoint. More...

bool	getKeypointSize (size_t keypointIdx, double &keypointSize) const
	Get the size of a specific keypoint. More...

const unsigned char *	keypointDescriptor (size_t keypointIdx)
	Access the descriptor – CAUTION: high-speed version. More...

bool	setLandmarkId (size_t keypointIdx, uint64_t landmarkId)
	Set the landmark ID. More...

uint64_t	landmarkId (size_t keypointIdx) const
	Access the landmark ID. More...

bool	resetKeypoints (const std::vector< cv::KeyPoint > &keypoints)
	Provide keypoints externally. More...

bool	resetDescriptors (const cv::Mat &descriptors)
	provide descriptors externally More...

size_t	numKeypoints () const
	Get the number of keypoints. More...

Protected Attributes
cv::Mat	image_
	the image as OpenCV's matrix More...

std::shared_ptr< const cameras::CameraBase >	cameraGeometry_
	the camera geometry More...

std::shared_ptr < cv::FeatureDetector >	detector_
	the detector More...

std::shared_ptr < cv::DescriptorExtractor >	extractor_
	the extractor More...

std::vector< cv::KeyPoint >	keypoints_
	we store keypoints using OpenCV's struct More...

cv::Mat	descriptors_
	we store the descriptors using OpenCV's matrices More...

std::vector< uint64_t >	landmarkIds_
	landmark Id, if associated – 0 otherwise More...

Detailed Description

A single camera frame equipped with keypoint detector / extractor.

Constructor & Destructor Documentation

EIGEN_MAKE_ALIGNED_OPERATOR_NEW okvis::Frame::Frame ( )

inline

a default constructor

okvis::Frame::Frame	(	const cv::Mat &	image,
		std::shared_ptr< cameras::CameraBase > &	cameraGeometry,
		std::shared_ptr< cv::FeatureDetector > &	detector,
		std::shared_ptr< cv::DescriptorExtractor > &	extractor
	)

inline

A constructor that uses the image, specified geometry, detector and extractor.

detector and extractor

Parameters

[in]	image	The image.
[in]	cameraGeometry	The camera geometry.
[in]	detector	The detector to be used.
[in]	extractor	The extractor to be used.

virtual okvis::Frame::~Frame ( )

inlinevirtual

A simple destructor.

Member Function Documentation

int okvis::Frame::describe ( const Eigen::Vector3d & extractionDirection = Eigen::Vector3d(0, 0, 1) )

inline

Describe keypoints. This uses virtual function calls. That's a negligibly small overhead for many detections.

Parameters

extractionDirection The extraction direction in camera frame

Returns: The number of detected points.

That's a negligibly small overhead for many detections.

Parameters

extractionDirection the extraction direction in camera frame returns the number of detected points.

template<class GEOMETRY_T >

int okvis::Frame::describeAs ( const Eigen::Vector3d & extractionDirection = Eigen::Vector3d(0, 0, 1) )

inline

Describe keypoints. This uses virtual function calls. That's a negligibly small overhead for many detections.

Template Parameters

GEOMETRY_T The type for the camera geometry requested.

Parameters

extractionDirection the extraction direction in camera frame

Returns: The number of detected points.

That's a negligibly small overhead for many detections.

Parameters

extractionDirection the extraction direction in camera frame returns the number of detected points.

int okvis::Frame::detect ( )

inline

Detect keypoints. This uses virtual function calls. That's a negligibly small overhead for many detections.

Returns: The number of detected points.

That's a negligibly small overhead for many detections. returns the number of detected points.

std::shared_ptr< const cameras::CameraBase > okvis::Frame::geometry ( ) const

inline

get the base class geometry (will be slow to use)

Returns: The camera geometry.

template<class GEOMETRY_T >

std::shared_ptr< const GEOMETRY_T > okvis::Frame::geometryAs ( ) const

inline

Get the specific geometry (will be fast to use)

Template Parameters

GEOMETRY_T The type for the camera geometry requested.

Returns: The camera geometry.

bool okvis::Frame::getCvKeypoint	(	size_t	keypointIdx,
		cv::KeyPoint &	keypoint
	)		const

inline

Access a specific keypoint in OpenCV format.

Parameters

[in]	keypointIdx	The requested keypoint's index.
[out]	keypoint	The requested keypoint.

Returns: whether or not the operation was successful.

bool okvis::Frame::getKeypoint	(	size_t	keypointIdx,
		Eigen::Vector2d &	keypoint
	)		const

inline

Get a specific keypoint.

Parameters

[in]	keypointIdx	The requested keypoint's index.
[out]	keypoint	The requested keypoint.

Returns: whether or not the operation was successful.

bool okvis::Frame::getKeypointSize	(	size_t	keypointIdx,
		double &	keypointSize
	)		const

inline

Get the size of a specific keypoint.

Parameters

[in]	keypointIdx	The requested keypoint's index.
[out]	keypointSize	The requested keypoint's size.

Returns: whether or not the operation was successful.

const cv::Mat & okvis::Frame::image ( ) const

inline

Obtain the image.

Returns: The image.

const unsigned char * okvis::Frame::keypointDescriptor ( size_t keypointIdx )

inline

Access the descriptor – CAUTION: high-speed version.

returns NULL if out of bounds.

Parameters

[in] keypointIdx The requested keypoint's index.

Returns: The descriptor data pointer; NULL if out of bounds.

uint64_t okvis::Frame::landmarkId ( size_t keypointIdx ) const

inline

Access the landmark ID.

Parameters

[in] keypointIdx The requested keypoint's index.

Returns: The landmark Id.

size_t okvis::Frame::numKeypoints ( ) const

inline

Get the number of keypoints.

Returns: The number of keypoints.

bool okvis::Frame::resetDescriptors ( const cv::Mat & descriptors )

inline

provide descriptors externally

Parameters

[in] descriptors A vector of descriptors.

Returns: whether or not the operation was successful.

bool okvis::Frame::resetKeypoints ( const std::vector< cv::KeyPoint > & keypoints )

inline

Provide keypoints externally.

Parameters

[in] keypoints A vector of keyoints.

Returns: whether or not the operation was successful.

void okvis::Frame::setDetector ( std::shared_ptr< cv::FeatureDetector > detector )

inline

Set the detector.

Parameters

[in] detector The detector to be used.

void okvis::Frame::setExtractor ( std::shared_ptr< cv::DescriptorExtractor > extractor )

inline

Set the extractor.

Parameters

[in] extractor The extractor to be used.

void okvis::Frame::setGeometry ( std::shared_ptr< const cameras::CameraBase > cameraGeometry )

inline

Set the geometry.

Parameters

[in] cameraGeometry The camera geometry.

void okvis::Frame::setImage ( const cv::Mat & image )

inline

Set the frame image;.

Parameters

[in] image The image.

bool okvis::Frame::setLandmarkId	(	size_t	keypointIdx,
		uint64_t	landmarkId
	)

inline

Set the landmark ID.

Parameters

[in]	keypointIdx	The requested keypoint's index.
[in]	landmarkId	The landmark Id.

Returns: whether or not the operation was successful.

Member Data Documentation

std::shared_ptr<const cameras::CameraBase> okvis::Frame::cameraGeometry_

protected

the camera geometry

cv::Mat okvis::Frame::descriptors_

protected

we store the descriptors using OpenCV's matrices

std::shared_ptr<cv::FeatureDetector> okvis::Frame::detector_

protected

the detector

std::shared_ptr<cv::DescriptorExtractor> okvis::Frame::extractor_

protected

the extractor

cv::Mat okvis::Frame::image_

protected

the image as OpenCV's matrix

std::vector<cv::KeyPoint> okvis::Frame::keypoints_

protected

we store keypoints using OpenCV's struct

std::vector<uint64_t> okvis::Frame::landmarkIds_

protected

landmark Id, if associated – 0 otherwise

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

okvis/okvis_cv/include/okvis/Frame.hpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation