|
|
| MapFrame (const FrameID &id=0, const double ×tamp=0) |
| |
|
virtual std::string | type () const |
| |
|
const PointID & | id () const |
| |
|
const double & | timestamp () const |
| |
|
void | setPose (const SE3 &pose) |
| |
|
void | setPose (const SIM3 &pose) |
| |
|
SE3 | getPose () const |
| |
|
bool | getPose (SIM3 &pose) const |
| |
|
SIM3 | getPoseScale () const |
| |
|
virtual int | cameraNum () const |
| |
|
virtual SE3 | getCameraPose (int idx=0) const |
| |
|
virtual int | imageChannels (int idx=0) const |
| |
|
virtual Camera | getCamera (int idx=0) |
| |
|
virtual GImage | getImage (int idx=0, int channalMask=IMAGE_UNDEFINED) |
| |
|
virtual bool | setImage (const GImage &img, int idx=0, int channalMask=IMAGE_UNDEFINED) |
| |
|
virtual bool | setCamera (const Camera &camera, int idx=0) |
| |
|
virtual int | getIMUNum () const |
| |
|
virtual SE3 | getIMUPose (int idx=0) const |
| |
|
virtual bool | getAcceleration (Point3d &acc, int idx=0) const |
| |
|
virtual bool | getAngularVelocity (Point3d &angularV, int idx=0) const |
| |
|
virtual bool | getMagnetic (Point3d &mag, int idx=0) const |
| |
|
virtual bool | getAccelerationNoise (Point3d &accN, int idx=0) const |
| |
|
virtual bool | getAngularVNoise (Point3d &angularVN, int idx=0) const |
| |
|
virtual bool | getPitchYawRoll (Point3d &pyr, int idx=0) const |
| |
|
virtual bool | getPYRSigma (Point3d &pyrSigma, int idx=0) const |
| |
|
virtual int | getGPSNum () const |
| |
|
virtual SE3 | getGPSPose (int idx=0) const |
| |
|
virtual bool | getGPSLLA (Point3d &LonLatAlt, int idx=0) const |
| |
|
virtual bool | getGPSLLASigma (Point3d &llaSigma, int idx=0) const |
| |
|
virtual bool | getGPSECEF (Point3d &xyz, int idx=0) const |
| |
|
virtual bool | getHeight2Ground (Point2d &height, int idx=0) const |
| |
|
virtual int | keyPointNum () const |
| |
|
virtual bool | setKeyPoints (const std::vector< GSLAM::KeyPoint > &keypoints, const GSLAM::GImage &descriptors=GSLAM::GImage()) |
| |
|
virtual bool | getKeyPoint (int idx, Point2f &pt) const |
| |
|
virtual bool | getKeyPoint (int idx, KeyPoint &pt) const |
| |
|
virtual bool | getKeyPoints (std::vector< Point2f > &keypoints) const |
| |
|
virtual bool | getKeyPoints (std::vector< KeyPoint > &keypoints) const |
| |
|
virtual std::vector< KeyPoint > | getKeyPoints () const |
| |
|
virtual bool | getKeyPointColor (int idx, ColorType &color) |
| |
|
virtual bool | getKeyPointIDepthInfo (int idx, Point2d &idepth) |
| |
|
virtual PointID | getKeyPointObserve (int idx) |
| |
|
virtual GImage | getDescriptor (int idx=-1) const |
| |
|
virtual bool | getBoWVector (BowVector &bowvec) const |
| |
|
virtual BowVector | getBoWVector () const |
| |
|
virtual bool | getFeatureVector (FeatureVector &featvec) const |
| |
|
virtual FeatureVector | getFeatureVector () const |
| |
|
virtual std::vector< size_t > | getFeaturesInArea (const float &x, const float &y, const float &r, bool precisely=true) const |
| |
|
virtual int | observationNum () const |
| |
|
virtual bool | getObservations (std::map< GSLAM::PointID, size_t > &obs) const |
| |
|
virtual std::map< GSLAM::PointID, size_t > | getObservations () const |
| |
|
virtual bool | addObservation (const GSLAM::PointPtr &pt, size_t featId, bool add2Point=false) |
| |
|
virtual bool | eraseObservation (const GSLAM::PointPtr &pt, bool erasePoint=false) |
| |
|
virtual bool | clearObservations () |
| |
|
virtual std::shared_ptr< FrameConnection > | getParent (GSLAM::FrameID parentId) const |
| |
|
virtual std::shared_ptr< FrameConnection > | getChild (GSLAM::FrameID childId) const |
| |
|
virtual bool | getParents (FrameConnectionMap &parents) const |
| |
|
virtual bool | getChildren (FrameConnectionMap &children) const |
| |
|
FrameConnectionMap | getParents () const |
| |
|
FrameConnectionMap | getChildren () const |
| |
|
virtual bool | addParent (GSLAM::FrameID parentId, const std::shared_ptr< FrameConnection > &parent) |
| |
|
virtual bool | addChildren (GSLAM::FrameID childId, const std::shared_ptr< FrameConnection > &child) |
| |
|
virtual bool | eraseParent (GSLAM::FrameID parentId) |
| |
|
virtual bool | eraseChild (GSLAM::FrameID childId) |
| |
|
virtual bool | clearParents () |
| |
|
virtual bool | clearChildren () |
| |
|
virtual double | getMedianDepth () |
| |
|
std::string | channelString (int idx=0) const |
| |
|
virtual void | call (const std::string &command, void *arg=NULL) |
| |
|
virtual void | draw () |
| |
|
virtual bool | toByteArray (std::vector< uchar > &array) |
| |
|
virtual bool | fromByteArray (std::vector< uchar > &array) |
| |
Public Member Functions inherited from GObject
1.8.11