isae::Frame Class Reference

A Frame class representing a set of sensors and landmarks at a specific timestamp. More...

#include <frame.h>

Inheritance diagram for isae::Frame:

Collaboration diagram for isae::Frame:

Public Member Functions
	Frame ()=default
void	init (const std::vector< std::shared_ptr< ImageSensor >> &sensors, unsigned long long timestamp)
	Initialization of a frame with images. More...
void	init (std::shared_ptr< IMU > &imu, unsigned long long timestamp)
	Initialization of a frame with IMU. More...
void	init (const std::vector< std::shared_ptr< ASensor >> &sensors, unsigned long long timestamp)
	Initialization of a frame with a set of Sensors. More...
std::vector< std::shared_ptr< ImageSensor > >	getSensors () const
std::shared_ptr< IMU >	getIMU () const
void	setIMU (std::shared_ptr< IMU > &imu, Eigen::Affine3d T_s_f)
void	cleanSensors ()
	free all the pointers related to sensors More...
void	setWorld2FrameTransform (Eigen::Affine3d T_f_w)
	Set the pose of the world wrt the frame. More...
Eigen::Affine3d	getWorld2FrameTransform () const
	Get the pose of the world wrt to the frame. More...
Eigen::Affine3d	getFrame2WorldTransform () const
	Get the pose of the frame in the world frame. More...
void	addLandmark (std::shared_ptr< ALandmark > ldmk)
void	addLandmarks (isae::typed_vec_landmarks ldmks)
typed_vec_landmarks	getLandmarks () const
uint	getInMapLandmarksNumber () const
uint	getLandmarksNumber () const
void	cleanLandmarks ()
unsigned long long	getTimestamp () const
void	setKeyFrame ()
void	unsetKeyFrame ()
bool	isKeyFrame () const
	Return true if the frame is a keyframe, false otherwise. More...
bool	hasPrior () const
void	setPrior (Eigen::Affine3d T_prior, Vector6d inf_prior)
Eigen::Affine3d	getPrior () const
Vector6d	getInfPrior () const
void	setdTCov (Eigen::MatrixXd dT_cov)
Eigen::MatrixXd	getdTCov () const

Public Attributes
int	_id
	Unique ID for the frame, assigned at initialization. More...

Static Public Attributes
static int	_frame_count = 0
	Static counter for frame IDs. More...

Detailed Description

A Frame class representing a set of sensors and landmarks at a specific timestamp.

A frame is the core component of a SLAM system. It gathers measurements for one or more sensors (e.g., cameras, IMUs) at a specific timestamp. It contains pointers to sensor objects as well as pointer to landmarks that serves for mapping and localization. A frame will be located in space with its pose and eventually, a covariance will be assoiated to it. If a frame is considered as a keyframe, it will be incorporated in a map.

Constructor & Destructor Documentation

Frame()

isae::Frame::Frame ( )

default

Member Function Documentation

addLandmark()

void isae::Frame::addLandmark ( std::shared_ptr< ALandmark >  ldmk )

inline

addLandmarks()

void isae::Frame::addLandmarks ( isae::typed_vec_landmarks  ldmks )

inline

cleanLandmarks()

void isae::Frame::cleanLandmarks

(

)

cleanSensors()

void isae::Frame::cleanSensors ( )

inline

free all the pointers related to sensors

getdTCov()

Eigen::MatrixXd isae::Frame::getdTCov ( ) const

inline

getFrame2WorldTransform()

Eigen::Affine3d isae::Frame::getFrame2WorldTransform ( ) const

inline

Get the pose of the frame in the world frame.

getIMU()

std::shared_ptr<IMU> isae::Frame::getIMU ( ) const

inline

getInfPrior()

Vector6d isae::Frame::getInfPrior ( ) const

inline

getInMapLandmarksNumber()

uint isae::Frame::getInMapLandmarksNumber

(

)

const

getLandmarks()

typed_vec_landmarks isae::Frame::getLandmarks ( ) const

inline

getLandmarksNumber()

uint isae::Frame::getLandmarksNumber ( ) const

inline

getPrior()

Eigen::Affine3d isae::Frame::getPrior ( ) const

inline

getSensors()

std::vector<std::shared_ptr<ImageSensor> > isae::Frame::getSensors ( ) const

inline

getTimestamp()

unsigned long long isae::Frame::getTimestamp ( ) const

inline

getWorld2FrameTransform()

Eigen::Affine3d isae::Frame::getWorld2FrameTransform ( ) const

inline

Get the pose of the world wrt to the frame.

hasPrior()

bool isae::Frame::hasPrior ( ) const

inline

init() [1/3]

void isae::Frame::init	(	const std::vector< std::shared_ptr< ASensor >> &	sensors,
		unsigned long long	timestamp
	)

Initialization of a frame with a set of Sensors.

init() [2/3]

void isae::Frame::init	(	const std::vector< std::shared_ptr< ImageSensor >> &	sensors,
		unsigned long long	timestamp
	)

Initialization of a frame with images.

init() [3/3]

void isae::Frame::init	(	std::shared_ptr< IMU > &	imu,
		unsigned long long	timestamp
	)

Initialization of a frame with IMU.

isKeyFrame()

bool isae::Frame::isKeyFrame ( ) const

inline

Return true if the frame is a keyframe, false otherwise.

setdTCov()

void isae::Frame::setdTCov ( Eigen::MatrixXd  dT_cov )

inline

setIMU()

void isae::Frame::setIMU	(	std::shared_ptr< IMU > &	imu,
		Eigen::Affine3d	T_s_f
	)

setKeyFrame()

void isae::Frame::setKeyFrame ( )

inline

setPrior()

void isae::Frame::setPrior ( Eigen::Affine3d  T_prior, Vector6d  inf_prior  )

inline

setWorld2FrameTransform()

void isae::Frame::setWorld2FrameTransform ( Eigen::Affine3d  T_f_w )

inline

Set the pose of the world wrt the frame.

unsetKeyFrame()

void isae::Frame::unsetKeyFrame ( )

inline

Member Data Documentation

_frame_count

int isae::Frame::_frame_count = 0

static

Static counter for frame IDs.

_id

int isae::Frame::_id

Unique ID for the frame, assigned at initialization.

---

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

• /home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/include/isaeslam/data/frame.h
• /home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/src/data/frame.cpp