ORBSLAMリードレコード

Frame.ccのこの構造関数

Frame::Frame(const cv::Mat &imGray, const double &timeStamp, ORBextractor* extractor,ORBVocabulary* voc, cv::Mat &K, cv::Mat &distCoef, const float &bf, const float &thDepth)
    :mpORBvocabulary(voc),mpORBextractorLeft(extractor),mpORBextractorRight(static_cast(NULL)),
     mTimeStamp(timeStamp), mK(K.clone()),mDistCoef(distCoef.clone()), mbf(bf), mThDepth(thDepth)
{
    // Frame ID
    mnId=nNextId++;

    // Scale Level Info
    mnScaleLevels = mpORBextractorLeft->GetLevels();
    mfScaleFactor = mpORBextractorLeft->GetScaleFactor();
    mfLogScaleFactor = log(mfScaleFactor);
    mvScaleFactors = mpORBextractorLeft->GetScaleFactors();
    mvInvScaleFactors = mpORBextractorLeft->GetInverseScaleFactors();
    mvLevelSigma2 = mpORBextractorLeft->GetScaleSigmaSquares();
    mvInvLevelSigma2 = mpORBextractorLeft->GetInverseScaleSigmaSquares();

    // ORB extraction
    ExtractORB(0,imGray);

    N = mvKeys.size();

    if(mvKeys.empty())
        return;

    UndistortKeyPoints();

    // Set no stereo information
    mvuRight = vector(N,-1);
    mvDepth = vector(N,-1);

    mvpMapPoints = vector(N,static_cast(NULL));
    mvbOutlier = vector(N,false);

    // This is done only for the first Frame (or after a change in the calibration)
    if(mbInitialComputations)
    {
        ComputeImageBounds(imGray);

        mfGridElementWidthInv=static_cast(FRAME_GRID_COLS)/static_cast(mnMaxX-mnMinX);
        mfGridElementHeightInv=static_cast(FRAME_GRID_ROWS)/static_cast(mnMaxY-mnMinY);

        fx = K.at(0,0);
        fy = K.at(1,1);
        cx = K.at(0,2);
        cy = K.at(1,2);
        invfx = 1.0f/fx;
        invfy = 1.0f/fy;

        mbInitialComputations=false;
    }

    mb = mbf/fx;

    AssignFeaturesToGrid();
}

関数を構築した後にコロンを付けるのは初期化です.パラメータの中のORBextractor*extractorはオブジェクトであり、ORBextractorはクラスである.これに基づいて、以下のORBextractorを使用する方法があります.

    mnScaleLevels = mpORBextractorLeft->GetLevels();
    mfScaleFactor = mpORBextractorLeft->GetScaleFactor();
    mfLogScaleFactor = log(mfScaleFactor);
    mvScaleFactors = mpORBextractorLeft->GetScaleFactors();
    mvInvScaleFactors = mpORBextractorLeft->GetInverseScaleFactors();
    mvLevelSigma2 = mpORBextractorLeft->GetScaleSigmaSquares();
    mvInvLevelSigma2 = mpORBextractorLeft->GetInverseScaleSigmaSquares();

 
コロン:以降のmpORBvocabulary(voc)、mpORBextractorLeft(extractor)、mpORBextractorRight(static_cast(NULL))は、パラメータのvocをmpORBvocabularyに割り当てることを意味する
(未完待機)