Public Member Functions | List of all members
OdometryFrame Class Reference

Stores data specific to an input frame. More...

Public Member Functions

int getFeatureWindowSize () const
const PyramidLevelgetLevel (int i) const
PyramidLevelgetLevel (int i)
int getNumDetectedKeypoints () const
int getNumKeypoints () const
int getNumLevels () const
 OdometryFrame (const Rectification *rectification, const VisualOdometryOptions &options)
void prepareFrame (const uint8_t *raw_gray, int fast_threshold, DepthSource *depth_source)
void sanityCheck () const

Detailed Description

Stores data specific to an input frame.


Stores grayscaled image, disparity map, keypoints (detected features), and keypoint descriptors.

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