#include <WAISlam.h>

Inheritance diagram for WAISlam:

Classes
struct	Params

Public Member Functions
	WAISlam (const cv::Mat &intrinsic, const cv::Mat &distortion, WAIOrbVocabulary voc, KPextractor iniExtractor, KPextractor relocExtractor, KPextractor extractor, std::unique_ptr< WAIMap > globalMap, WAISlam::Params params)

virtual	~WAISlam ()

virtual void	reset ()

void	changeIntrinsic (cv::Mat intrinsic, cv::Mat distortion)

void	createFrame (WAIFrame &frame, cv::Mat &imageGray)

virtual void	updatePose (WAIFrame &frame)

virtual bool	update (cv::Mat &imageGray)

virtual void	updatePoseKFIntegration (WAIFrame &frame)

virtual void	resume ()

virtual bool	isTracking ()

virtual bool	hasStateIdle ()

virtual void	requestStateIdle ()

virtual bool	retainImage ()

void	transformCoords (cv::Mat transform)

std::vector< WAIMapPoint * >	getMatchedMapPoints (WAIFrame *frame)

int	getMatchedCorrespondances (WAIFrame *frame, std::pair< std::vector< cv::Point2f >, std::vector< cv::Point3f > > &matching)

virtual bool	isInitialized ()

virtual WAIMap *	getMap ()

virtual WAIFrame	getLastFrame ()

virtual WAIFrame *	getLastFramePtr ()

virtual std::vector< WAIMapPoint * >	getLocalMapPoints ()

virtual int	getNumKeyFrames ()

virtual std::vector< WAIMapPoint * >	getMapPoints ()

virtual std::vector< WAIKeyFrame * >	getKeyFrames ()

virtual std::string	getPrintableState ()

virtual int	getKeyPointCount ()

virtual int	getKeyFrameCount ()

virtual int	getMapPointCount ()

virtual cv::Mat	getPose ()

virtual void	setCamExrinsicGuess (cv::Mat extrinsicGuess)

virtual void	setMap (std::unique_ptr< WAIMap > globalMap)

virtual WAITrackingState	getTrackingState ()

virtual void	drawInfo (cv::Mat &imageBGR, float scale, bool showInitLine, bool showKeyPoints, bool showKeyPointsMatched)

KPextractor *	getKPextractor ()

int	getMapPointMatchesCount () const

std::string	getLoopCloseStatus ()

int	getLoopCloseCount ()

int	getKeyFramesInLoopCloseQueueCount ()

Protected Member Functions
void	updateState (WAITrackingState state)

bool	finishRequested ()

void	requestFinish ()

bool	isStop ()

bool	isFinished ()

void	flushQueue ()

int	getNextFrame (WAIFrame &frame)

Protected Member Functions inherited from WAISlamTools
virtual	~WAISlamTools ()

	WAISlamTools ()

Static Protected Member Functions
static void	updatePoseThread (WAISlam *ptr)

Static Protected Member Functions inherited from WAISlamTools
static void	countReprojectionOutliers (WAIFrame &frame, unsigned int &m, unsigned int &n, unsigned int &outliers)

Protected Attributes
bool	_requestFinish

bool	_isFinish

bool	_isStop

std::mutex	_stateMutex

WAITrackingState	_state = WAITrackingState::Idle

std::mutex	_cameraExtrinsicMutex

std::mutex	_cameraExtrinsicGuessMutex

std::mutex	_mutexStates

std::mutex	_lastFrameMutex

WAISlam::Params	_params

unsigned int	_relocFrameCounter = 0

unsigned long	_lastRelocFrameId = 0

unsigned long	_lastKeyFrameFrameId = 0

KPextractor *	_extractor = nullptr

KPextractor *	_relocExtractor = nullptr

KPextractor *	_iniExtractor = nullptr

int	_infoMatchedInliners = 0

std::thread *	_poseUpdateThread

std::queue< WAIFrame >	_framesQueue

std::mutex	_frameQueueMutex

Protected Attributes inherited from WAISlamTools
cv::Mat	_distortion

cv::Mat	_cameraIntrinsic

cv::Mat	_cameraExtrinsic

cv::Mat	_cameraExtrinsicGuess

WAIInitializerData	_iniData

WAIFrame	_lastFrame

std::unique_ptr< WAIMap >	_globalMap

LocalMap	_localMap

WAIOrbVocabulary *	_voc = nullptr

cv::Mat	_velocity

bool	_initialized = false

LocalMapping *	_localMapping = nullptr

LoopClosing *	_loopClosing = nullptr

std::thread *	_processNewKeyFrameThread = nullptr

std::vector< std::thread * >	_mappingThreads

std::thread *	_loopClosingThread = nullptr

Additional Inherited Members
Static Public Member Functions inherited from WAISlamTools
static void	drawKeyPointInfo (WAIFrame &frame, cv::Mat &image, float scale)

static void	drawKeyPointMatches (WAIFrame &frame, cv::Mat &image, float scale)

static void	drawInitInfo (WAIInitializerData &iniData, WAIFrame &frame, cv::Mat &imageBGR, float scale)

static bool	initialize (WAIInitializerData &iniData, WAIFrame &frame, WAIOrbVocabulary *voc, LocalMap &localMap, int mapPointsNeeded=100)

static bool	genInitialMap (WAIMap globalMap, LocalMapping localMapper, LoopClosing *loopCloser, LocalMap &localMap)

static bool	oldInitialize (WAIFrame &frame, WAIInitializerData &iniData, WAIMap map, LocalMap &localMap, LocalMapping localMapper, LoopClosing loopCloser, WAIOrbVocabulary voc, int mapPointsNeeded=100)

static int	findFrameFixedMapMatches (WAIFrame &frame, WAIMap *waiMap, std::vector< cv::Point2f > &points2d, std::vector< cv::Point3f > &points3d)

static bool	relocalization (WAIFrame &currentFrame, WAIMap *waiMap, LocalMap &localMap, float minCommonWordFactor, int &inliers, bool minAccScoreFilter=false)

static bool	relocalizationGPS (WAIFrame &currentFrame, WAIMap *waiMap, LocalMap &localMap, cv::Mat locENU, cv::Mat dirENU, float minCommonWordFactor, int &inliers, bool minAccScoreFilter)

static bool	tracking (WAIMap *map, LocalMap &localMap, WAIFrame &frame, WAIFrame &lastFrame, int lastRelocFrameId, cv::Mat &velocity, int &inliers)

static bool	strictTracking (WAIMap *map, LocalMap &localMap, WAIFrame &frame, WAIFrame &lastFrame, int lastRelocFrameId, int &inliers)

static bool	trackLocalMap (LocalMap &localMap, WAIFrame &frame, int lastRelocFrameId, int &inliers)

static void	mapping (WAIMap map, LocalMap &localMap, LocalMapping localMapper, WAIFrame &frame, int inliers, const unsigned long lastRelocFrameId, unsigned long &lastKeyFrameFrameId)

static void	strictMapping (WAIMap map, LocalMap &localMap, LocalMapping localMapper, WAIFrame &frame, int inliers, const unsigned long lastRelocFrameId, unsigned long &lastKeyFrameFrameId)

static void	motionModel (WAIFrame &frame, WAIFrame &lastFrame, cv::Mat &velocity, cv::Mat &pose)

static bool	trackReferenceKeyFrame (LocalMap &map, WAIFrame &lastFrame, WAIFrame &frame)

static bool	strictTrackReferenceKeyFrame (LocalMap &map, WAIFrame &lastFrame, WAIFrame &frame)

static bool	trackWithMotionModel (cv::Mat velocity, WAIFrame &previousFrame, WAIFrame &frame)

static void	updateLocalMap (WAIFrame &frame, LocalMap &localMap)

static int	trackLocalMapPoints (LocalMap &localMap, int lastRelocFrameId, WAIFrame &frame)

static bool	needNewKeyFrame (WAIMap globalMap, LocalMap &localMap, LocalMapping localMapper, WAIFrame &frame, int nInliners, const unsigned long lastRelocFrameId, const unsigned long lastKeyFrameFrameId)

static bool	strictNeedNewKeyFrame (WAIMap map, LocalMap &localMap, LocalMapping localMapper, WAIFrame &frame, int nInliers, const unsigned long lastRelocFrameId, const unsigned long lastKeyFrameFrameId)

static void	createNewKeyFrame (LocalMapping localMapper, LocalMap &localMap, WAIMap globalMap, WAIFrame &frame, unsigned long &lastKeyFrameFrameId)

static WAIFrame	createMarkerFrame (std::string markerFile, KPextractor markerExtractor, const cv::Mat &markerCameraIntrinsic, WAIOrbVocabulary voc)

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

static bool	doMarkerMapPreprocessing (std::string markerFile, cv::Mat &nodeTransform, float markerWidthInM, KPextractor markerExtractor, WAIMap map, const cv::Mat &markerCameraIntrinsic, WAIOrbVocabulary *voc)

static bool	detectCycle (WAIKeyFrame kf, std::set< WAIKeyFrame > &visitedNode)

static bool	checkKFConnectionsTree (WAIMap *map)

Constructor & Destructor Documentation

◆ WAISlam()

WAISlam::WAISlam	(	const cv::Mat &	intrinsic,
		const cv::Mat &	distortion,
		WAIOrbVocabulary *	voc,
		KPextractor *	iniExtractor,
		KPextractor *	relocExtractor,
		KPextractor *	extractor,
		std::unique_ptr< WAIMap >	globalMap,
		WAISlam::Params	params
	)

◆ ~WAISlam()

WAISlam::~WAISlam ( )

virtual

Member Function Documentation

◆ changeIntrinsic()

void WAISlam::changeIntrinsic	(	cv::Mat	intrinsic,
		cv::Mat	distortion
	)

◆ createFrame()

void WAISlam::createFrame	(	WAIFrame &	frame,
		cv::Mat &	imageGray
	)

◆ drawInfo()

void WAISlam::drawInfo	(	cv::Mat &	imageBGR,
		float	scale,
		bool	showInitLine,
		bool	showKeyPoints,
		bool	showKeyPointsMatched
	)

virtual

◆ finishRequested()

bool WAISlam::finishRequested ( )

protected

◆ flushQueue()

void WAISlam::flushQueue ( )

protected

◆ getKeyFrameCount()

virtual int WAISlam::getKeyFrameCount ( )

inlinevirtual

◆ getKeyFrames()

virtual std::vector< WAIKeyFrame * > WAISlam::getKeyFrames ( )

inlinevirtual

◆ getKeyFramesInLoopCloseQueueCount()

int WAISlam::getKeyFramesInLoopCloseQueueCount ( )

◆ getKeyPointCount()

virtual int WAISlam::getKeyPointCount ( )

inlinevirtual

◆ getKPextractor()

KPextractor * WAISlam::getKPextractor ( )

inline

◆ getLastFrame()

WAIFrame WAISlam::getLastFrame ( )

virtual

◆ getLastFramePtr()

WAIFrame * WAISlam::getLastFramePtr ( )

virtual

◆ getLocalMapPoints()

virtual std::vector< WAIMapPoint * > WAISlam::getLocalMapPoints ( )

inlinevirtual

◆ getLoopCloseCount()

int WAISlam::getLoopCloseCount ( )

◆ getLoopCloseStatus()

std::string WAISlam::getLoopCloseStatus ( )

◆ getMap()

virtual WAIMap * WAISlam::getMap ( )

inlinevirtual

◆ getMapPointCount()

virtual int WAISlam::getMapPointCount ( )

inlinevirtual

◆ getMapPointMatchesCount()

int WAISlam::getMapPointMatchesCount ( ) const

◆ getMapPoints()

virtual std::vector< WAIMapPoint * > WAISlam::getMapPoints ( )

inlinevirtual

◆ getMatchedCorrespondances()

int WAISlam::getMatchedCorrespondances	(	WAIFrame *	frame,
		std::pair< std::vector< cv::Point2f >, std::vector< cv::Point3f > > &	matching
	)

◆ getMatchedMapPoints()

std::vector< WAIMapPoint * > WAISlam::getMatchedMapPoints ( WAIFrame * frame )

◆ getNextFrame()

int WAISlam::getNextFrame ( WAIFrame & frame )

protected

◆ getNumKeyFrames()

virtual int WAISlam::getNumKeyFrames ( )

inlinevirtual

◆ getPose()

cv::Mat WAISlam::getPose ( )

virtual

◆ getPrintableState()

virtual std::string WAISlam::getPrintableState ( )

inlinevirtual

◆ getTrackingState()

virtual WAITrackingState WAISlam::getTrackingState ( )

inlinevirtual

◆ hasStateIdle()

bool WAISlam::hasStateIdle ( )

virtual

◆ isFinished()

bool WAISlam::isFinished ( )

protected

◆ isInitialized()

virtual bool WAISlam::isInitialized ( )

inlinevirtual

◆ isStop()

bool WAISlam::isStop ( )

protected

◆ isTracking()

bool WAISlam::isTracking ( )

virtual

◆ requestFinish()

void WAISlam::requestFinish ( )

protected

◆ requestStateIdle()

void WAISlam::requestStateIdle ( )

virtual

◆ reset()

void WAISlam::reset ( )

virtual

◆ resume()

void WAISlam::resume ( )

virtual

◆ retainImage()

bool WAISlam::retainImage ( )

virtual

◆ setCamExrinsicGuess()

void WAISlam::setCamExrinsicGuess ( cv::Mat extrinsicGuess )

virtual

◆ setMap()

void WAISlam::setMap ( std::unique_ptr< WAIMap > globalMap )

virtual

◆ transformCoords()

void WAISlam::transformCoords ( cv::Mat transform )

◆ update()

bool WAISlam::update ( cv::Mat & imageGray )

virtual

◆ updatePose()

void WAISlam::updatePose ( WAIFrame & frame )

virtual

◆ updatePoseKFIntegration()

void WAISlam::updatePoseKFIntegration ( WAIFrame & frame )

virtual

◆ updatePoseThread()

void WAISlam::updatePoseThread ( WAISlam * ptr )

staticprotected

◆ updateState()

void WAISlam::updateState ( WAITrackingState state )

protected

Member Data Documentation

◆ _cameraExtrinsicGuessMutex

std::mutex WAISlam::_cameraExtrinsicGuessMutex

protected

◆ _cameraExtrinsicMutex

std::mutex WAISlam::_cameraExtrinsicMutex

protected

◆ _extractor

KPextractor* WAISlam::_extractor = nullptr

protected

◆ _frameQueueMutex

std::mutex WAISlam::_frameQueueMutex

protected

◆ _framesQueue

std::queue<WAIFrame> WAISlam::_framesQueue

protected

◆ _infoMatchedInliners

int WAISlam::_infoMatchedInliners = 0

protected

◆ _iniExtractor

KPextractor* WAISlam::_iniExtractor = nullptr

protected

◆ _isFinish

bool WAISlam::_isFinish

protected

◆ _isStop

bool WAISlam::_isStop

protected

◆ _lastFrameMutex

std::mutex WAISlam::_lastFrameMutex

protected

◆ _lastKeyFrameFrameId

unsigned long WAISlam::_lastKeyFrameFrameId = 0

protected

◆ _lastRelocFrameId

unsigned long WAISlam::_lastRelocFrameId = 0

protected

◆ _mutexStates

std::mutex WAISlam::_mutexStates

protected

◆ _params

WAISlam::Params WAISlam::_params

protected

◆ _poseUpdateThread

std::thread* WAISlam::_poseUpdateThread

protected

◆ _relocExtractor

KPextractor* WAISlam::_relocExtractor = nullptr

protected

◆ _relocFrameCounter

unsigned int WAISlam::_relocFrameCounter = 0

protected

◆ _requestFinish

bool WAISlam::_requestFinish

protected

◆ _state

WAITrackingState WAISlam::_state = WAITrackingState::Idle

protected

◆ _stateMutex

std::mutex WAISlam::_stateMutex

protected

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

Classes

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ WAISlam()

◆ ~WAISlam()

Member Function Documentation

◆ changeIntrinsic()

◆ createFrame()

◆ drawInfo()

◆ finishRequested()

◆ flushQueue()

◆ getKeyFrameCount()

◆ getKeyFrames()

◆ getKeyFramesInLoopCloseQueueCount()

◆ getKeyPointCount()

◆ getKPextractor()

◆ getLastFrame()

◆ getLastFramePtr()

◆ getLocalMapPoints()

◆ getLoopCloseCount()

◆ getLoopCloseStatus()

◆ getMap()

◆ getMapPointCount()

◆ getMapPointMatchesCount()

◆ getMapPoints()

◆ getMatchedCorrespondances()

◆ getMatchedMapPoints()

◆ getNextFrame()

◆ getNumKeyFrames()

◆ getPose()

◆ getPrintableState()

◆ getTrackingState()

◆ hasStateIdle()

◆ isFinished()

◆ isInitialized()

◆ isStop()

◆ isTracking()

◆ requestFinish()

◆ requestStateIdle()

◆ reset()

◆ resume()

◆ retainImage()

◆ setCamExrinsicGuess()

◆ setMap()

◆ transformCoords()

◆ update()

◆ updatePose()

◆ updatePoseKFIntegration()

◆ updatePoseThread()

◆ updateState()

Member Data Documentation

◆ _cameraExtrinsicGuessMutex

◆ _cameraExtrinsicMutex

◆ _extractor

◆ _frameQueueMutex

◆ _framesQueue

◆ _infoMatchedInliners

◆ _iniExtractor

◆ _isFinish

◆ _isStop

◆ _lastFrameMutex

◆ _lastKeyFrameFrameId

◆ _lastRelocFrameId

◆ _mutexStates

◆ _params

◆ _poseUpdateThread

◆ _relocExtractor

◆ _relocFrameCounter

◆ _requestFinish

◆ _state

◆ _stateMutex