function

SLAM.LoopClosure.RGBDKeyframes.ReadSlot

Public declarations

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

Role	Name	Type
input	`state`	`Catalog`
input	`slot`	`Integer`
output	`frame`	`Frame`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function ReadSlot
    input Catalog state;
    input Integer slot;
    output Frame frame;
  algorithm
    frame := EmptyFrame();
    if slot >= 1 and slot <= keyframeCapacity then
      frame.generation := state.generations[slot];
      frame.id := state.ids[slot];
      frame.epoch := state.epochs[slot];
      frame.imageTime := state.imageTimes[slot];
      frame.count := state.counts[slot];
      frame.enabled := state.featureEnabled[slot,:];
      frame.descriptor := state.descriptors[slot,:,:];
      frame.opticalPoint := state.opticalPoints[slot,:,:];
      frame.pixels := state.pixelCoordinates[slot,:,:];
      frame.rgbSize := state.rgbSizes[slot,:];
      frame.depthSize := state.depthSizes[slot,:];
      frame.rgbCalibration := state.rgbCalibrations[slot,:];
      frame.depthCalibration := state.depthCalibrations[slot,:];
      frame.opticalToBody := state.opticalToBodyRotations[slot,:,:];
      frame.cameraOriginBody := state.cameraOriginsBody[slot,:];
      frame.disparityNoise := state.disparityNoises[slot];
      frame.noiseReferenceFx := state.noiseReferenceFocals[slot];
      frame.baseline := state.baselines[slot];
      frame.bodyRotation := state.bodyRotations[slot,:,:];
      frame.bodyPosition := state.bodyPositions[slot,:];
      frame.poseCovariance := state.poseCovariances[slot,:,:];
      frame.vocabularyVersion := state.vocabularyVersions[slot];
      frame.histogram := state.histograms[slot,:];
    end if;
  end ReadSlot;