record

SLAM.LoopClosure.RGBDKeyframes.Frame

Public declarations

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

Role	Name	Type	Dimensions / attributes / default	Description
field	`generation`	`Integer`		Reset/source/world ownership generation
field	`id`	`Integer`		Monotone identity; never a reusable array slot
field	`epoch`	`Integer`		Measured image identity, independent of wall time
field	`imageTime`	`Real`		Simulation time of image acquisition
field	`count`	`Integer`		Full feature domain, including disabled sparse slots
field	`enabled`	`Boolean`	`[featureCapacity]`
field	`descriptor`	`Real`	`[featureCapacity,descriptorSize]`
field	`opticalPoint`	`Real`	`[featureCapacity,dimension]`
field	`pixels`	`Integer`	`[featureCapacity,2]`	Zero-based RGB pixels
field	`rgbSize`	`Integer`	`[2]`	Height, width
field	`depthSize`	`Integer`	`[2]`
field	`rgbCalibration`	`Real`	`[4]`	fx, fy, cx, cy
field	`depthCalibration`	`Real`	`[4]`
field	`opticalToBody`	`Real`	`[dimension,dimension]`
field	`cameraOriginBody`	`Real`	`[dimension]`
field	`disparityNoise`	`Real`
field	`noiseReferenceFx`	`Real`
field	`baseline`	`Real`
field	`bodyRotation`	`Real`	`[dimension,dimension]`
field	`bodyPosition`	`Real`	`[dimension]`
field	`poseCovariance`	`Real`	`[poseDimension,poseDimension]`
field	`vocabularyVersion`	`Integer`
field	`histogram`	`Real`	`[wordCapacity]`

Modelica declarations and implementation

Show parameters, interfaces and source

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

record Frame
    Integer generation "Reset/source/world ownership generation";
    Integer id "Monotone identity; never a reusable array slot";
    Integer epoch "Measured image identity, independent of wall time";
    Real imageTime "Simulation time of image acquisition";
    Integer count "Full feature domain, including disabled sparse slots";
    Boolean enabled[featureCapacity];
    Real descriptor[featureCapacity,descriptorSize];
    Real opticalPoint[featureCapacity,dimension];
    Integer pixels[featureCapacity,2] "Zero-based RGB pixels";
    Integer rgbSize[2] "Height, width";
    Integer depthSize[2];
    Real rgbCalibration[4] "fx, fy, cx, cy";
    Real depthCalibration[4];
    Real opticalToBody[dimension,dimension];
    Real cameraOriginBody[dimension];
    Real disparityNoise;
    Real noiseReferenceFx;
    Real baseline;
    Real bodyRotation[dimension,dimension];
    Real bodyPosition[dimension];
    Real poseCovariance[poseDimension,poseDimension];
    Integer vocabularyVersion;
    Real histogram[wordCapacity];
  end Frame;