function

SLAM.LoopClosure.RGBDKeyframes.Empty

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default
input	`generation`	`Integer`	`= 1`
input	`vocabularyVersion`	`Integer`	`= 1`
output	`state`	`Catalog`

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

function Empty
    input Integer generation = 1;
    input Integer vocabularyVersion = 1;
    output Catalog state;
  protected
    Frame emptyFrame;
  algorithm
    state.generation := generation;
    state.vocabularyVersion := vocabularyVersion;
    state.nextId := 1;
    state.nextSlot := 1;
    state.lastEpoch := -1;
    state.lastTime := 0.0;
    // Copy one canonical frame into each array slice. This initializes every
    // field once, including inactive payload, without a separate catalog-sized
    // zero initializer followed by overwriting each frame's metadata.
    emptyFrame := EmptyFrame();
    for slot in 1:keyframeCapacity loop
      state.occupied[slot] := false;
      state.generations[slot] := emptyFrame.generation;
      state.ids[slot] := emptyFrame.id;
      state.epochs[slot] := emptyFrame.epoch;
      state.imageTimes[slot] := emptyFrame.imageTime;
      state.counts[slot] := emptyFrame.count;
      state.featureEnabled[slot,:] := emptyFrame.enabled;
      state.descriptors[slot,:,:] := emptyFrame.descriptor;
      state.opticalPoints[slot,:,:] := emptyFrame.opticalPoint;
      state.pixelCoordinates[slot,:,:] := emptyFrame.pixels;
      state.rgbSizes[slot,:] := emptyFrame.rgbSize;
      state.depthSizes[slot,:] := emptyFrame.depthSize;
      state.rgbCalibrations[slot,:] := emptyFrame.rgbCalibration;
      state.depthCalibrations[slot,:] := emptyFrame.depthCalibration;
      state.opticalToBodyRotations[slot,:,:] := emptyFrame.opticalToBody;
      state.cameraOriginsBody[slot,:] := emptyFrame.cameraOriginBody;
      state.disparityNoises[slot] := emptyFrame.disparityNoise;
      state.noiseReferenceFocals[slot] := emptyFrame.noiseReferenceFx;
      state.baselines[slot] := emptyFrame.baseline;
      state.bodyRotations[slot,:,:] := emptyFrame.bodyRotation;
      state.bodyPositions[slot,:] := emptyFrame.bodyPosition;
      state.poseCovariances[slot,:,:] := emptyFrame.poseCovariance;
      state.vocabularyVersions[slot] := emptyFrame.vocabularyVersion;
      state.histograms[slot,:] := emptyFrame.histogram;
    end for;
  end Empty;