function

SLAM.LoopClosure.RGBDKeyframes.EmptyFrame

Public declarations

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

Role	Name	Type	Dimensions / attributes / default	Description
output	`frame`	`Frame`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function EmptyFrame
    output Frame frame;
  algorithm
    frame.generation := 1;
    frame.id := 0;
    frame.epoch := -1;
    frame.imageTime := 0.0;
    frame.count := 0;
    frame.enabled := fill(false,featureCapacity);
    frame.descriptor := zeros(featureCapacity,descriptorSize);
    frame.opticalPoint := zeros(featureCapacity,dimension);
    frame.pixels := fill(0,featureCapacity,2);
    frame.rgbSize := {imageHeight,imageWidth};
    frame.depthSize := {imageHeight,imageWidth};
    frame.rgbCalibration := {116.4,116.4,79.5,44.5};
    frame.depthCalibration := {84.3,84.3,79.5,44.5};
    frame.opticalToBody := [0,0,1;-1,0,0;0,-1,0];
    frame.cameraOriginBody := {0.18,0,-0.04};
    frame.disparityNoise := 0.08;
    frame.noiseReferenceFx := 84.3;
    frame.baseline := 0.05;
    frame.bodyRotation := identity(dimension);
    frame.bodyPosition := zeros(dimension);
    frame.poseCovariance := identity(poseDimension);
    frame.vocabularyVersion := 1;
    frame.histogram := zeros(wordCapacity);
  end EmptyFrame;