#include <WAIModeOrbSlam2.h>

Classes
struct	Params

Public Member Functions
	ModeOrbSlam2 (ORB_SLAM2::KPextractor kpExtractor, ORB_SLAM2::KPextractor kpIniExtractor, cv::Mat cameraMat, cv::Mat distortionMat, const Params &params, std::string orbVocFile, bool applyMinAccScoreFilter=false)

	ModeOrbSlam2 (ORB_SLAM2::KPextractor kpExtractor, ORB_SLAM2::KPextractor kpIniExtractor, ORB_SLAM2::KPextractor *kpMarkerExtractor, std::string markerFile, cv::Mat cameraMat, cv::Mat distortionMat, const Params &params, std::string orbVocFile, bool applyMinAccScoreFilter=false)

	~ModeOrbSlam2 ()

bool	getPose (cv::Mat *pose)

bool	update (cv::Mat &imageGray, cv::Mat &imageRGB)

void	reset ()

bool	isInitialized ()

void	disableMapping ()

void	enableMapping ()

WAIMap *	getMap ()

WAIKeyFrameDB *	getKfDB ()

std::string	getPrintableState ()

TrackingState	getTrackingState ()

std::string	getPrintableType ()

int	getKeyPointCount ()

int	getMapPointCount ()

int	getMapPointMatchesCount ()

int	getKeyFrameCount ()

int	getNMapMatches ()

int	getNumKeyFrames ()

float	poseDifference ()

float	getMeanReprojectionError ()

void	findMatches (std::vector< cv::Point2f > &vP2D, std::vector< cv::Point3f > &vP3Dw)

std::string	getLoopCloseStatus ()

int	getLoopCloseCount ()

int	getKeyFramesInLoopCloseQueueCount ()

std::vector< WAIMapPoint * >	getMapPoints ()

std::vector< WAIMapPoint * >	getMatchedMapPoints ()

std::vector< WAIMapPoint * >	getLocalMapPoints ()

std::vector< WAIMapPoint * >	getMarkerCornerMapPoints ()

std::vector< WAIKeyFrame * >	getKeyFrames ()

std::pair< std::vector< cv::Vec3f >, std::vector< cv::Vec2f > >	getMatchedCorrespondances ()

std::pair< std::vector< cv::Vec3f >, std::vector< cv::Vec2f > >	getCorrespondances ()

KPextractor *	getKPextractor ()

bool	getTrackOptFlow ()

void	setTrackOptFlow (bool flag)

void	pause ()

void	resume ()

void	requestStateIdle ()

bool	hasStateIdle ()

bool	retainImage ()

void	setInitialized (bool initialized)

void	setVocabulary (std::string orbVocFile)

WAIFrame	getCurrentFrame ()

bool	doMarkerMapPreprocessing (std::string markerFile, cv::Mat &nodeTransform, float markerWidthInM)

void	decorateVideoWithKeyPoints (cv::Mat &image)

void	decorateVideoWithKeyPointMatches (cv::Mat &image)

WAIFrame	createMarkerFrame (std::string markerFile, KPextractor *markerExtractor)

Static Public Member Functions
static bool	relocalization (WAIFrame &currentFrame, WAIKeyFrameDB keyFrameDB, unsigned int lastRelocFrameId, WAIMap &waiMap, bool applyMinAccScoreFilter=true, bool relocWithAllKFs=false)

Public Attributes
int	mMinFrames = 0

int	mMaxFrames = 30

Private Types
enum	TrackingType { TrackingType_None , TrackingType_ORBSLAM , TrackingType_MotionModel , TrackingType_OptFlow }

Private Member Functions
void	initialize (cv::Mat &imageGray, cv::Mat &imageRGB)

bool	createInitialMapMonocular (int mapPointsNeeded)

void	track3DPts (cv::Mat &imageGray, cv::Mat &imageRGB)

bool	trackReferenceKeyFrame ()

bool	trackWithMotionModel ()

bool	trackLocalMap ()

bool	trackWithOptFlow ()

bool	needNewKeyFrame ()

void	createNewKeyFrame ()

bool	posInGrid (const cv::KeyPoint &kp, int &posX, int &posY, int minX, int minY)

void	checkReplacedInLastFrame ()

void	updateLocalMap ()

void	updateLocalKeyFrames ()

void	updateLocalPoints ()

void	searchLocalPoints ()

void	updateLastFrame ()

WAIKeyFrame *	currentKeyFrame ()

void	stateTransition ()

void	resetRequests ()

void	requestResume ()

void	decorate (cv::Mat &image)

void	calculateMeanReprojectionError ()

void	calculatePoseDifference ()

bool	findMarkerHomography (WAIFrame &markerFrame, WAIKeyFrame *kfCand, cv::Mat &homography, int minMatches)

Private Attributes
cv::Mat	_pose

bool	_applyMinAccScoreFilter

bool	_poseSet = false

bool	_initialized

Params	_params

cv::Mat	_cameraMat

cv::Mat	_distortionMat

TrackingState	_state = TrackingState_None

TrackingType	_trackingType = TrackingType_None

WAIKeyFrameDB *	mpKeyFrameDatabase = nullptr

WAIMap *	_map = nullptr

ORB_SLAM2::ORBVocabulary *	mpVocabulary = nullptr

ORB_SLAM2::KPextractor *	mpExtractor = nullptr

ORB_SLAM2::KPextractor *	mpIniExtractor = nullptr

ORB_SLAM2::LocalMapping *	mpLocalMapper = nullptr

ORB_SLAM2::LoopClosing *	mpLoopCloser = nullptr

ORB_SLAM2::Initializer *	mpInitializer = nullptr

std::thread *	mptLocalMapping = nullptr

std::thread *	mptLoopClosing = nullptr

std::mutex	_meanProjErrorLock

std::mutex	_poseDiffLock

std::mutex	_mapLock

std::mutex	_nMapMatchesLock

std::mutex	_optFlowLock

WAIFrame	mCurrentFrame

WAIFrame	mInitialFrame

WAIFrame	mLastFrame

std::vector< int >	mvIniMatches

std::vector< cv::Point2f >	mvbPrevMatched

std::vector< cv::Point3f >	mvIniP3D

bool	_bOK = false

bool	_mapHasChanged = false

bool	mbVO = false

list< cv::Mat >	mlRelativeFramePoses

list< WAIKeyFrame * >	mlpReferences

list< double >	mlFrameTimes

list< bool >	mlbLost

int	mnMatchesInliers = 0

WAIKeyFrame *	mpLastKeyFrame = nullptr

unsigned int	mnLastRelocFrameId = 0

unsigned int	mnLastKeyFrameId

WAIKeyFrame *	mpReferenceKF = nullptr

std::vector< WAIMapPoint * >	mvpLocalMapPoints

std::vector< WAIKeyFrame * >	mvpLocalKeyFrames

cv::Mat	mVelocity

bool	_optFlowOK = false

cv::Mat	_optFlowTcw

vector< WAIMapPoint * >	_optFlowMapPtsLastFrame

vector< cv::KeyPoint >	_optFlowKeyPtsLastFrame

float	_optFlowGridElementWidthInv

float	_optFlowGridElementHeightInv

bool	_idleRequested = false

bool	_resumeRequested = false

std::mutex	_mutexStates

double	_meanReprojectionError = -1.0

double	_poseDifference = -1.0

bool	_showMapPC = true

bool	_showMatchesPC = true

bool	_showLocalMapPC = false

bool	_showKeyFrames = true

bool	_showCovisibilityGraph = false

bool	_showSpanningTree = true

bool	_showLoopEdges = true

bool	_renderKfBackground = false

bool	_allowKfsAsActiveCam = false

WAIFrame	_markerFrame

ORB_SLAM2::KPextractor *	_markerExtractor = nullptr

WAIMapPoint *	_mpUL = nullptr

WAIMapPoint *	_mpUR = nullptr

WAIMapPoint *	_mpLL = nullptr

WAIMapPoint *	_mpLR = nullptr

Member Enumeration Documentation

◆ TrackingType

enum WAI::ModeOrbSlam2::TrackingType

private

Enumerator
TrackingType_None
TrackingType_ORBSLAM
TrackingType_MotionModel
TrackingType_OptFlow

Constructor & Destructor Documentation

◆ ModeOrbSlam2() [1/2]

WAI::ModeOrbSlam2::ModeOrbSlam2	(	ORB_SLAM2::KPextractor *	kpExtractor,
		ORB_SLAM2::KPextractor *	kpIniExtractor,
		cv::Mat	cameraMat,
		cv::Mat	distortionMat,
		const Params &	params,
		std::string	orbVocFile,
		bool	applyMinAccScoreFilter = `false`
	)

◆ ModeOrbSlam2() [2/2]

WAI::ModeOrbSlam2::ModeOrbSlam2	(	ORB_SLAM2::KPextractor *	kpExtractor,
		ORB_SLAM2::KPextractor *	kpIniExtractor,
		ORB_SLAM2::KPextractor *	kpMarkerExtractor,
		std::string	markerFile,
		cv::Mat	cameraMat,
		cv::Mat	distortionMat,
		const Params &	params,
		std::string	orbVocFile,
		bool	applyMinAccScoreFilter = `false`
	)

◆ ~ModeOrbSlam2()

WAI::ModeOrbSlam2::~ModeOrbSlam2 ( )

Member Function Documentation

◆ calculateMeanReprojectionError()

void WAI::ModeOrbSlam2::calculateMeanReprojectionError ( )

private

◆ calculatePoseDifference()

void WAI::ModeOrbSlam2::calculatePoseDifference ( )

private

◆ checkReplacedInLastFrame()

void WAI::ModeOrbSlam2::checkReplacedInLastFrame ( )

private

◆ createInitialMapMonocular()

bool WAI::ModeOrbSlam2::createInitialMapMonocular ( int mapPointsNeeded )

private

◆ createMarkerFrame()

WAIFrame WAI::ModeOrbSlam2::createMarkerFrame	(	std::string	markerFile,
		KPextractor *	markerExtractor
	)

◆ createNewKeyFrame()

void WAI::ModeOrbSlam2::createNewKeyFrame ( )

private

◆ currentKeyFrame()

WAIKeyFrame * WAI::ModeOrbSlam2::currentKeyFrame ( )

private

◆ decorate()

void WAI::ModeOrbSlam2::decorate ( cv::Mat & image )

private

◆ decorateVideoWithKeyPointMatches()

void WAI::ModeOrbSlam2::decorateVideoWithKeyPointMatches ( cv::Mat & image )

◆ decorateVideoWithKeyPoints()

void WAI::ModeOrbSlam2::decorateVideoWithKeyPoints ( cv::Mat & image )

◆ disableMapping()

void WAI::ModeOrbSlam2::disableMapping ( )

◆ doMarkerMapPreprocessing()

bool WAI::ModeOrbSlam2::doMarkerMapPreprocessing	(	std::string	markerFile,
		cv::Mat &	nodeTransform,
		float	markerWidthInM
	)

◆ enableMapping()

void WAI::ModeOrbSlam2::enableMapping ( )

◆ findMarkerHomography()

bool WAI::ModeOrbSlam2::findMarkerHomography	(	WAIFrame &	markerFrame,
		WAIKeyFrame *	kfCand,
		cv::Mat &	homography,
		int	minMatches
	)

private

◆ findMatches()

void WAI::ModeOrbSlam2::findMatches	(	std::vector< cv::Point2f > &	vP2D,
		std::vector< cv::Point3f > &	vP3Dw
	)

◆ getCorrespondances()

std::pair< std::vector< cv::Vec3f >, std::vector< cv::Vec2f > > WAI::ModeOrbSlam2::getCorrespondances ( )

◆ getCurrentFrame()

WAIFrame WAI::ModeOrbSlam2::getCurrentFrame ( )

◆ getKeyFrameCount()

int WAI::ModeOrbSlam2::getKeyFrameCount ( )

◆ getKeyFrames()

std::vector< WAIKeyFrame * > WAI::ModeOrbSlam2::getKeyFrames ( )

◆ getKeyFramesInLoopCloseQueueCount()

int WAI::ModeOrbSlam2::getKeyFramesInLoopCloseQueueCount ( )

◆ getKeyPointCount()

int WAI::ModeOrbSlam2::getKeyPointCount ( )

◆ getKfDB()

WAIKeyFrameDB * WAI::ModeOrbSlam2::getKfDB ( )

inline

◆ getKPextractor()

KPextractor * WAI::ModeOrbSlam2::getKPextractor ( )

inline

◆ getLocalMapPoints()

std::vector< WAIMapPoint * > WAI::ModeOrbSlam2::getLocalMapPoints ( )

◆ getLoopCloseCount()

int WAI::ModeOrbSlam2::getLoopCloseCount ( )

◆ getLoopCloseStatus()

std::string WAI::ModeOrbSlam2::getLoopCloseStatus ( )

◆ getMap()

WAIMap * WAI::ModeOrbSlam2::getMap ( )

inline

◆ getMapPointCount()

int WAI::ModeOrbSlam2::getMapPointCount ( )

◆ getMapPointMatchesCount()

int WAI::ModeOrbSlam2::getMapPointMatchesCount ( )

◆ getMapPoints()

std::vector< WAIMapPoint * > WAI::ModeOrbSlam2::getMapPoints ( )

◆ getMarkerCornerMapPoints()

std::vector< WAIMapPoint * > WAI::ModeOrbSlam2::getMarkerCornerMapPoints ( )

◆ getMatchedCorrespondances()

std::pair< std::vector< cv::Vec3f >, std::vector< cv::Vec2f > > WAI::ModeOrbSlam2::getMatchedCorrespondances ( )

◆ getMatchedMapPoints()

std::vector< WAIMapPoint * > WAI::ModeOrbSlam2::getMatchedMapPoints ( )

◆ getMeanReprojectionError()

float WAI::ModeOrbSlam2::getMeanReprojectionError ( )

◆ getNMapMatches()

int WAI::ModeOrbSlam2::getNMapMatches ( )

◆ getNumKeyFrames()

int WAI::ModeOrbSlam2::getNumKeyFrames ( )

◆ getPose()

bool WAI::ModeOrbSlam2::getPose ( cv::Mat * pose )

◆ getPrintableState()

std::string WAI::ModeOrbSlam2::getPrintableState ( )

◆ getPrintableType()

std::string WAI::ModeOrbSlam2::getPrintableType ( )

◆ getTrackingState()

TrackingState WAI::ModeOrbSlam2::getTrackingState ( )

inline

◆ getTrackOptFlow()

bool WAI::ModeOrbSlam2::getTrackOptFlow ( )

◆ hasStateIdle()

bool WAI::ModeOrbSlam2::hasStateIdle ( )

◆ initialize()

void WAI::ModeOrbSlam2::initialize	(	cv::Mat &	imageGray,
		cv::Mat &	imageRGB
	)

private

◆ isInitialized()

bool WAI::ModeOrbSlam2::isInitialized ( )

◆ needNewKeyFrame()

bool WAI::ModeOrbSlam2::needNewKeyFrame ( )

private

◆ pause()

void WAI::ModeOrbSlam2::pause ( )

◆ poseDifference()

float WAI::ModeOrbSlam2::poseDifference ( )

◆ posInGrid()

bool WAI::ModeOrbSlam2::posInGrid	(	const cv::KeyPoint &	kp,
		int &	posX,
		int &	posY,
		int	minX,
		int	minY
	)

private

◆ relocalization()

bool WAI::ModeOrbSlam2::relocalization	(	WAIFrame &	currentFrame,
		WAIKeyFrameDB *	keyFrameDB,
		unsigned int *	lastRelocFrameId,
		WAIMap &	waiMap,
		bool	applyMinAccScoreFilter = `true`,
		bool	relocWithAllKFs = `false`
	)

static

◆ requestResume()

void WAI::ModeOrbSlam2::requestResume ( )

private

◆ requestStateIdle()

void WAI::ModeOrbSlam2::requestStateIdle ( )

◆ reset()

void WAI::ModeOrbSlam2::reset ( )

◆ resetRequests()

void WAI::ModeOrbSlam2::resetRequests ( )

private

◆ resume()

void WAI::ModeOrbSlam2::resume ( )

◆ retainImage()

bool WAI::ModeOrbSlam2::retainImage ( )

inline

◆ searchLocalPoints()

void WAI::ModeOrbSlam2::searchLocalPoints ( )

private

◆ setInitialized()

void WAI::ModeOrbSlam2::setInitialized ( bool initialized )

inline

◆ setTrackOptFlow()

void WAI::ModeOrbSlam2::setTrackOptFlow ( bool flag )

◆ setVocabulary()

void WAI::ModeOrbSlam2::setVocabulary ( std::string orbVocFile )

◆ stateTransition()

void WAI::ModeOrbSlam2::stateTransition ( )

private

◆ track3DPts()

void WAI::ModeOrbSlam2::track3DPts	(	cv::Mat &	imageGray,
		cv::Mat &	imageRGB
	)

private

◆ trackLocalMap()

bool WAI::ModeOrbSlam2::trackLocalMap ( )

private

◆ trackReferenceKeyFrame()

bool WAI::ModeOrbSlam2::trackReferenceKeyFrame ( )

private

◆ trackWithMotionModel()

bool WAI::ModeOrbSlam2::trackWithMotionModel ( )

private

◆ trackWithOptFlow()

bool WAI::ModeOrbSlam2::trackWithOptFlow ( )

private

◆ update()

bool WAI::ModeOrbSlam2::update	(	cv::Mat &	imageGray,
		cv::Mat &	imageRGB
	)

◆ updateLastFrame()

void WAI::ModeOrbSlam2::updateLastFrame ( )

private

◆ updateLocalKeyFrames()

void WAI::ModeOrbSlam2::updateLocalKeyFrames ( )

private

◆ updateLocalMap()

void WAI::ModeOrbSlam2::updateLocalMap ( )

private

◆ updateLocalPoints()

void WAI::ModeOrbSlam2::updateLocalPoints ( )

private

Member Data Documentation

◆ _allowKfsAsActiveCam

bool WAI::ModeOrbSlam2::_allowKfsAsActiveCam = false

private

◆ _applyMinAccScoreFilter

bool WAI::ModeOrbSlam2::_applyMinAccScoreFilter

private

◆ _bOK

bool WAI::ModeOrbSlam2::_bOK = false

private

◆ _cameraMat

cv::Mat WAI::ModeOrbSlam2::_cameraMat

private

◆ _distortionMat

cv::Mat WAI::ModeOrbSlam2::_distortionMat

private

◆ _idleRequested

bool WAI::ModeOrbSlam2::_idleRequested = false

private

◆ _initialized

bool WAI::ModeOrbSlam2::_initialized

private

◆ _map

WAIMap* WAI::ModeOrbSlam2::_map = nullptr

private

◆ _mapHasChanged

bool WAI::ModeOrbSlam2::_mapHasChanged = false

private

◆ _mapLock

std::mutex WAI::ModeOrbSlam2::_mapLock

private

◆ _markerExtractor

ORB_SLAM2::KPextractor* WAI::ModeOrbSlam2::_markerExtractor = nullptr

private

◆ _markerFrame

WAIFrame WAI::ModeOrbSlam2::_markerFrame

private

◆ _meanProjErrorLock

std::mutex WAI::ModeOrbSlam2::_meanProjErrorLock

private

◆ _meanReprojectionError

double WAI::ModeOrbSlam2::_meanReprojectionError = -1.0

private

◆ _mpLL

WAIMapPoint* WAI::ModeOrbSlam2::_mpLL = nullptr

private

◆ _mpLR

WAIMapPoint* WAI::ModeOrbSlam2::_mpLR = nullptr

private

◆ _mpUL

WAIMapPoint* WAI::ModeOrbSlam2::_mpUL = nullptr

private

◆ _mpUR

WAIMapPoint* WAI::ModeOrbSlam2::_mpUR = nullptr

private

◆ _mutexStates

std::mutex WAI::ModeOrbSlam2::_mutexStates

private

◆ _nMapMatchesLock

std::mutex WAI::ModeOrbSlam2::_nMapMatchesLock

private

◆ _optFlowGridElementHeightInv

float WAI::ModeOrbSlam2::_optFlowGridElementHeightInv

private

◆ _optFlowGridElementWidthInv

float WAI::ModeOrbSlam2::_optFlowGridElementWidthInv

private

◆ _optFlowKeyPtsLastFrame

vector<cv::KeyPoint> WAI::ModeOrbSlam2::_optFlowKeyPtsLastFrame

private

◆ _optFlowLock

std::mutex WAI::ModeOrbSlam2::_optFlowLock

private

◆ _optFlowMapPtsLastFrame

vector<WAIMapPoint*> WAI::ModeOrbSlam2::_optFlowMapPtsLastFrame

private

◆ _optFlowOK

bool WAI::ModeOrbSlam2::_optFlowOK = false

private

◆ _optFlowTcw

cv::Mat WAI::ModeOrbSlam2::_optFlowTcw

private

◆ _params

Params WAI::ModeOrbSlam2::_params

private

◆ _pose

cv::Mat WAI::ModeOrbSlam2::_pose

private

◆ _poseDifference

double WAI::ModeOrbSlam2::_poseDifference = -1.0

private

◆ _poseDiffLock

std::mutex WAI::ModeOrbSlam2::_poseDiffLock

private

◆ _poseSet

bool WAI::ModeOrbSlam2::_poseSet = false

private

◆ _renderKfBackground

bool WAI::ModeOrbSlam2::_renderKfBackground = false

private

◆ _resumeRequested

bool WAI::ModeOrbSlam2::_resumeRequested = false

private

◆ _showCovisibilityGraph

bool WAI::ModeOrbSlam2::_showCovisibilityGraph = false

private

◆ _showKeyFrames

bool WAI::ModeOrbSlam2::_showKeyFrames = true

private

◆ _showLocalMapPC

bool WAI::ModeOrbSlam2::_showLocalMapPC = false

private

◆ _showLoopEdges

bool WAI::ModeOrbSlam2::_showLoopEdges = true

private

◆ _showMapPC

bool WAI::ModeOrbSlam2::_showMapPC = true

private

◆ _showMatchesPC

bool WAI::ModeOrbSlam2::_showMatchesPC = true

private

◆ _showSpanningTree

bool WAI::ModeOrbSlam2::_showSpanningTree = true

private

◆ _state

TrackingState WAI::ModeOrbSlam2::_state = TrackingState_None

private

◆ _trackingType

TrackingType WAI::ModeOrbSlam2::_trackingType = TrackingType_None

private

◆ mbVO

bool WAI::ModeOrbSlam2::mbVO = false

private

◆ mCurrentFrame

WAIFrame WAI::ModeOrbSlam2::mCurrentFrame

private

◆ mInitialFrame

WAIFrame WAI::ModeOrbSlam2::mInitialFrame

private

◆ mLastFrame

WAIFrame WAI::ModeOrbSlam2::mLastFrame

private

◆ mlbLost

list<bool> WAI::ModeOrbSlam2::mlbLost

private

◆ mlFrameTimes

list<double> WAI::ModeOrbSlam2::mlFrameTimes

private

◆ mlpReferences

list<WAIKeyFrame*> WAI::ModeOrbSlam2::mlpReferences

private

◆ mlRelativeFramePoses

list<cv::Mat> WAI::ModeOrbSlam2::mlRelativeFramePoses

private

◆ mMaxFrames

int WAI::ModeOrbSlam2::mMaxFrames = 30

◆ mMinFrames

int WAI::ModeOrbSlam2::mMinFrames = 0

◆ mnLastKeyFrameId

unsigned int WAI::ModeOrbSlam2::mnLastKeyFrameId

private

◆ mnLastRelocFrameId

unsigned int WAI::ModeOrbSlam2::mnLastRelocFrameId = 0

private

◆ mnMatchesInliers

int WAI::ModeOrbSlam2::mnMatchesInliers = 0

private

◆ mpExtractor

ORB_SLAM2::KPextractor* WAI::ModeOrbSlam2::mpExtractor = nullptr

private

◆ mpIniExtractor

ORB_SLAM2::KPextractor* WAI::ModeOrbSlam2::mpIniExtractor = nullptr

private

◆ mpInitializer

ORB_SLAM2::Initializer* WAI::ModeOrbSlam2::mpInitializer = nullptr

private

◆ mpKeyFrameDatabase

WAIKeyFrameDB* WAI::ModeOrbSlam2::mpKeyFrameDatabase = nullptr

private

◆ mpLastKeyFrame

WAIKeyFrame* WAI::ModeOrbSlam2::mpLastKeyFrame = nullptr

private

◆ mpLocalMapper

ORB_SLAM2::LocalMapping* WAI::ModeOrbSlam2::mpLocalMapper = nullptr

private

◆ mpLoopCloser

ORB_SLAM2::LoopClosing* WAI::ModeOrbSlam2::mpLoopCloser = nullptr

private

◆ mpReferenceKF

WAIKeyFrame* WAI::ModeOrbSlam2::mpReferenceKF = nullptr

private

◆ mptLocalMapping

std::thread* WAI::ModeOrbSlam2::mptLocalMapping = nullptr

private

◆ mptLoopClosing

std::thread* WAI::ModeOrbSlam2::mptLoopClosing = nullptr

private

◆ mpVocabulary

ORB_SLAM2::ORBVocabulary* WAI::ModeOrbSlam2::mpVocabulary = nullptr

private

◆ mvbPrevMatched

std::vector<cv::Point2f> WAI::ModeOrbSlam2::mvbPrevMatched

private

◆ mVelocity

cv::Mat WAI::ModeOrbSlam2::mVelocity

private

◆ mvIniMatches

std::vector<int> WAI::ModeOrbSlam2::mvIniMatches

private

◆ mvIniP3D

std::vector<cv::Point3f> WAI::ModeOrbSlam2::mvIniP3D

private

◆ mvpLocalKeyFrames

std::vector<WAIKeyFrame*> WAI::ModeOrbSlam2::mvpLocalKeyFrames

private

◆ mvpLocalMapPoints

std::vector<WAIMapPoint*> WAI::ModeOrbSlam2::mvpLocalMapPoints

private

The documentation for this class was generated from the following files:

Classes

Public Member Functions

Static Public Member Functions

Public Attributes

Private Types

Private Member Functions

Private Attributes

Member Enumeration Documentation

◆ TrackingType

Constructor & Destructor Documentation

◆ ModeOrbSlam2() [1/2]

◆ ModeOrbSlam2() [2/2]

◆ ~ModeOrbSlam2()

Member Function Documentation

◆ calculateMeanReprojectionError()

◆ calculatePoseDifference()

◆ checkReplacedInLastFrame()

◆ createInitialMapMonocular()

◆ createMarkerFrame()

◆ createNewKeyFrame()

◆ currentKeyFrame()

◆ decorate()

◆ decorateVideoWithKeyPointMatches()

◆ decorateVideoWithKeyPoints()

◆ disableMapping()

◆ doMarkerMapPreprocessing()

◆ enableMapping()

◆ findMarkerHomography()

◆ findMatches()

◆ getCorrespondances()

◆ getCurrentFrame()

◆ getKeyFrameCount()

◆ getKeyFrames()

◆ getKeyFramesInLoopCloseQueueCount()

◆ getKeyPointCount()

◆ getKfDB()

◆ getKPextractor()

◆ getLocalMapPoints()

◆ getLoopCloseCount()

◆ getLoopCloseStatus()

◆ getMap()

◆ getMapPointCount()

◆ getMapPointMatchesCount()

◆ getMapPoints()

◆ getMarkerCornerMapPoints()

◆ getMatchedCorrespondances()

◆ getMatchedMapPoints()

◆ getMeanReprojectionError()

◆ getNMapMatches()

◆ getNumKeyFrames()

◆ getPose()

◆ getPrintableState()

◆ getPrintableType()

◆ getTrackingState()

◆ getTrackOptFlow()

◆ hasStateIdle()

◆ initialize()

◆ isInitialized()

◆ needNewKeyFrame()

◆ pause()

◆ poseDifference()

◆ posInGrid()

◆ relocalization()

◆ requestResume()

◆ requestStateIdle()

◆ reset()

◆ resetRequests()

◆ resume()

◆ retainImage()

◆ searchLocalPoints()

◆ setInitialized()

◆ setTrackOptFlow()

◆ setVocabulary()

◆ stateTransition()

◆ track3DPts()

◆ trackLocalMap()

◆ trackReferenceKeyFrame()

◆ trackWithMotionModel()

◆ trackWithOptFlow()

◆ update()