A multi camera frame that uses okvis::Frame underneath. More...

#include <MultiFrame.hpp>

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	MultiFrame ()
	Default constructor. More...

	MultiFrame (const cameras::NCameraSystem &cameraSystem, const okvis::Time &timestamp, uint64_t id=0)
	Construct from NCameraSystem. More...

virtual	~MultiFrame ()
	Destructor... More...

void	resetCameraSystemAndFrames (const cameras::NCameraSystem &cameraSystem)
	(Re)set the NCameraSystem – which clears the frames as well. More...

void	setTimestamp (const okvis::Time &timestamp)
	(Re)set the timestamp More...

void	setId (uint64_t id)
	(Re)set the id More...

const okvis::Time &	timestamp () const
	Obtain the frame timestamp. More...

uint64_t	id () const
	Obtain the frame id. More...

size_t	numFrames () const
	The number of frames/cameras. More...

std::shared_ptr< const okvis::kinematics::Transformation >	T_SC (size_t cameraIdx) const
	Get the extrinsics of a camera. More...

size_t	numKeypoints () const
	Get the total number of keypoints in all frames. More...

const cv::Mat	overlap (size_t cameraIndexSeenBy, size_t cameraIndex) const
	Get the overlap mask. Sorry for the weird syntax, but remember that cv::Mat is essentially a shared pointer. More...

bool	hasOverlap (size_t cameraIndexSeenBy, size_t cameraIndex) const
	Can the first camera see parts of the FOV of the second camera? More...

The following mirror the Frame functionality.
void	setImage (size_t cameraIdx, const cv::Mat &image)
	Set the frame image;. More...

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

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

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

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

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

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

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

int	describe (size_t cameraIdx, 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 (size_t cameraIdx, 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 cameraIdx, size_t keypointIdx, cv::KeyPoint &keypoint) const
	Access a specific keypoint in OpenCV format. More...

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

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

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

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

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

bool	resetKeypoints (size_t cameraIdx, const std::vector< cv::KeyPoint > &keypoints)
	provide keypoints externally More...

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

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

Protected Attributes
okvis::Time	timestamp_
	the frame timestamp More...

uint64_t	id_
	the frame id More...

std::vector< Frame, Eigen::aligned_allocator < Frame > >	frames_
	the individual frames More...

cameras::NCameraSystem	cameraSystem_
	the camera system More...

Detailed Description

A multi camera frame that uses okvis::Frame underneath.

Constructor & Destructor Documentation

okvis::MultiFrame::MultiFrame ( )

inline

Default constructor.

okvis::MultiFrame::MultiFrame	(	const cameras::NCameraSystem &	cameraSystem,
		const okvis::Time &	timestamp,
		uint64_t	id = `0`
	)

inline

Construct from NCameraSystem.

Parameters

[in]	cameraSystem	The camera system for which this is a multi-frame.
[in]	timestamp	The time this frame was recorded.
[in]	id	A unique frame Id.

okvis::MultiFrame::~MultiFrame ( )

inlinevirtual

Destructor...

Member Function Documentation

int okvis::MultiFrame::describe	(	size_t	cameraIdx,
		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

[in]	cameraIdx	The camera index.
[in]	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::MultiFrame::describeAs	(	size_t	cameraIdx,
		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

[in]	cameraIdx	The camera index.
[in]	extractionDirection	The extraction direction in camera frame

Returns: the number of detected points.

int okvis::MultiFrame::detect ( size_t cameraIdx )

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::MultiFrame::geometry ( size_t cameraIdx ) const

inline

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

Parameters

[in] cameraIdx The camera index.

Returns: The camera geometry.

template<class GEOMETRY_T >

std::shared_ptr< const GEOMETRY_T > okvis::MultiFrame::geometryAs ( size_t cameraIdx ) const

inline

Get the specific geometry (will be fast to use)

Template Parameters

GEOMETRY_T The type for the camera geometry requested.

Parameters

[in] cameraIdx The camera index.

Returns: The camera geometry.

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

inline

Access a specific keypoint in OpenCV format.

Parameters

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

Returns: whether or not the operation was successful.

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

inline

Get a specific keypoint.

Parameters

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

Returns: whether or not the operation was successful.

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

inline

Get the size of a specific keypoint.

Parameters

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

Returns: whether or not the operation was successful.

bool okvis::MultiFrame::hasOverlap	(	size_t	cameraIndexSeenBy,
		size_t	cameraIndex
	)		const

inline

Can the first camera see parts of the FOV of the second camera?

Parameters

[in]	cameraIndexSeenBy	The camera index for one camera.
[in]	cameraIndex	The camera index for the other camera.

Returns: True, if there is at least one pixel of overlap.

uint64_t okvis::MultiFrame::id ( ) const

inline

Obtain the frame id.

Returns: The unique frame Id.

const cv::Mat & okvis::MultiFrame::image ( size_t cameraIdx ) const

inline

Obtain the image.

Parameters

[in] cameraIdx The camera index.

Returns: The image.

const unsigned char * okvis::MultiFrame::keypointDescriptor	(	size_t	cameraIdx,
		size_t	keypointIdx
	)

inline

Access the descriptor – CAUTION: high-speed version.

returns NULL if out of bounds.

Parameters

[in]	cameraIdx	The camera index.
[in]	keypointIdx	The requested keypoint's index.

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

uint64_t okvis::MultiFrame::landmarkId	(	size_t	cameraIdx,
		size_t	keypointIdx
	)		const

inline

Access the landmark ID.

Parameters

[in]	cameraIdx	The camera index.
[in]	keypointIdx	The requested keypoint's index.

Returns: The landmark Id.

size_t okvis::MultiFrame::numFrames ( ) const

inline

The number of frames/cameras.

Returns: How many individual frames/cameras there are.

size_t okvis::MultiFrame::numKeypoints ( size_t cameraIdx ) const

inline

the number of keypoints

Parameters

[in] cameraIdx The camera index.

Returns: The number of keypoints.

size_t okvis::MultiFrame::numKeypoints ( ) const

inline

Get the total number of keypoints in all frames.

Returns: The total number of keypoints.

const cv::Mat okvis::MultiFrame::overlap	(	size_t	cameraIndexSeenBy,
		size_t	cameraIndex
	)		const

inline

Get the overlap mask. Sorry for the weird syntax, but remember that cv::Mat is essentially a shared pointer.

Parameters

[in]	cameraIndexSeenBy	The camera index for one camera.
[in]	cameraIndex	The camera index for the other camera.

Returns: The overlap mask image.

void okvis::MultiFrame::resetCameraSystemAndFrames ( const cameras::NCameraSystem & cameraSystem )

inline

(Re)set the NCameraSystem – which clears the frames as well.

Parameters

[in] cameraSystem The camera system for which this is a multi-frame.

bool okvis::MultiFrame::resetDescriptors	(	size_t	cameraIdx,
		const cv::Mat &	descriptors
	)

inline

provide descriptors externally

Parameters

[in]	cameraIdx	The camera index.
[in]	descriptors	A vector of descriptors.

Returns: whether or not the operation was successful.

bool okvis::MultiFrame::resetKeypoints	(	size_t	cameraIdx,
		const std::vector< cv::KeyPoint > &	keypoints
	)

inline

provide keypoints externally

Parameters

[in]	cameraIdx	The camera index.
[in]	keypoints	A vector of keyoints.

Returns: whether or not the operation was successful.

void okvis::MultiFrame::setDetector	(	size_t	cameraIdx,
		std::shared_ptr< cv::FeatureDetector >	detector
	)

inline

Set the detector.

Parameters

[in]	cameraIdx	The camera index.
[in]	detector	The detector to be used.

void okvis::MultiFrame::setExtractor	(	size_t	cameraIdx,
		std::shared_ptr< cv::DescriptorExtractor >	extractor
	)

inline

Set the extractor.

Parameters

[in]	cameraIdx	The camera index.
[in]	extractor	The extractor to be used.

void okvis::MultiFrame::setGeometry	(	size_t	cameraIdx,
		std::shared_ptr< const cameras::CameraBase >	cameraGeometry
	)

inline

Set the geometry.

Parameters

[in]	cameraIdx	The camera index.
[in]	cameraGeometry	The camera geometry.

void okvis::MultiFrame::setId ( uint64_t id )

inline

(Re)set the id

Parameters

[in] id A unique frame Id.

void okvis::MultiFrame::setImage	(	size_t	cameraIdx,
		const cv::Mat &	image
	)

inline

Set the frame image;.

Parameters

[in]	cameraIdx	The camera index that took the image.
[in]	image	The image.

bool okvis::MultiFrame::setLandmarkId	(	size_t	cameraIdx,
		size_t	keypointIdx,
		uint64_t	landmarkId
	)

inline

Set the landmark ID.

Parameters

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

Returns: whether or not the operation was successful.

void okvis::MultiFrame::setTimestamp ( const okvis::Time & timestamp )

inline

(Re)set the timestamp

Parameters

[in] timestamp The time this frame was recorded.

std::shared_ptr< const okvis::kinematics::Transformation > okvis::MultiFrame::T_SC ( size_t cameraIdx ) const

inline

Get the extrinsics of a camera.

Parameters

[in] cameraIdx The camera index for which the extrinsics are queried.

Returns: The extrinsics as T_SC.

const okvis::Time & okvis::MultiFrame::timestamp ( ) const

inline

Obtain the frame timestamp.

Returns: The time this frame was recorded.

Member Data Documentation

cameras::NCameraSystem okvis::MultiFrame::cameraSystem_

protected

the camera system

std::vector<Frame, Eigen::aligned_allocator<Frame> > okvis::MultiFrame::frames_

protected

the individual frames

uint64_t okvis::MultiFrame::id_

protected

the frame id

okvis::Time okvis::MultiFrame::timestamp_

protected

the frame timestamp

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

okvis/okvis_cv/include/okvis/MultiFrame.hpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation