#include <WAISlamTools.h>

Inheritance diagram for WAISlamTools:

Static Public Member Functions
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)

Protected Member Functions
virtual	~WAISlamTools ()

	WAISlamTools ()

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

Protected Attributes
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

Detailed Description

This class should not be instanced. It contains only pure virtual methods and some variables with getter that are useful for slam in a subclass.

Constructor & Destructor Documentation

◆ ~WAISlamTools()

virtual WAISlamTools::~WAISlamTools ( )

inlineprotectedvirtual

◆ WAISlamTools()

WAISlamTools::WAISlamTools ( )

inlineprotected

Member Function Documentation

◆ checkKFConnectionsTree()

bool WAISlamTools::checkKFConnectionsTree ( WAIMap * map )

static

◆ countReprojectionOutliers()

void WAISlamTools::countReprojectionOutliers	(	WAIFrame &	frame,
		unsigned int &	m,
		unsigned int &	n,
		unsigned int &	outliers
	)

staticprotected

◆ createMarkerFrame()

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

static

◆ createNewKeyFrame()

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

static

◆ detectCycle()

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

static

◆ doMarkerMapPreprocessing()

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

static

◆ drawInitInfo()

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

static

◆ drawKeyPointInfo()

void WAISlamTools::drawKeyPointInfo	(	WAIFrame &	frame,
		cv::Mat &	image,
		float	scale
	)

static

◆ drawKeyPointMatches()

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

static

◆ findFrameFixedMapMatches()

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

static

◆ findMarkerHomography()

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

static

◆ genInitialMap()

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

static

◆ initialize()

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

static

◆ mapping()

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

static

◆ motionModel()

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

static

◆ needNewKeyFrame()

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

static

◆ oldInitialize()

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

static

◆ relocalization()

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

static

◆ relocalizationGPS()

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

static

◆ strictMapping()

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

static

◆ strictNeedNewKeyFrame()

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

static

◆ strictTracking()

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

static

◆ strictTrackReferenceKeyFrame()

bool WAISlamTools::strictTrackReferenceKeyFrame	(	LocalMap &	map,
		WAIFrame &	lastFrame,
		WAIFrame &	frame
	)

static

◆ tracking()

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

static

◆ trackLocalMap()

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

static

◆ trackLocalMapPoints()

int WAISlamTools::trackLocalMapPoints	(	LocalMap &	localMap,
		int	lastRelocFrameId,
		WAIFrame &	frame
	)

static

◆ trackReferenceKeyFrame()

bool WAISlamTools::trackReferenceKeyFrame	(	LocalMap &	map,
		WAIFrame &	lastFrame,
		WAIFrame &	frame
	)

static

◆ trackWithMotionModel()

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

static

◆ updateLocalMap()

void WAISlamTools::updateLocalMap	(	WAIFrame &	frame,
		LocalMap &	localMap
	)

static

Member Data Documentation

◆ _cameraExtrinsic

cv::Mat WAISlamTools::_cameraExtrinsic

protected

◆ _cameraExtrinsicGuess

cv::Mat WAISlamTools::_cameraExtrinsicGuess

protected

◆ _cameraIntrinsic

cv::Mat WAISlamTools::_cameraIntrinsic

protected

◆ _distortion

cv::Mat WAISlamTools::_distortion

protected

◆ _globalMap

std::unique_ptr<WAIMap> WAISlamTools::_globalMap

protected

◆ _iniData

WAIInitializerData WAISlamTools::_iniData

protected

◆ _initialized

bool WAISlamTools::_initialized = false

protected

◆ _lastFrame

WAIFrame WAISlamTools::_lastFrame

protected

◆ _localMap

LocalMap WAISlamTools::_localMap

protected

◆ _localMapping

LocalMapping* WAISlamTools::_localMapping = nullptr

protected

◆ _loopClosing

LoopClosing* WAISlamTools::_loopClosing = nullptr

protected

◆ _loopClosingThread

std::thread* WAISlamTools::_loopClosingThread = nullptr

protected

◆ _mappingThreads

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

protected

◆ _processNewKeyFrameThread

std::thread* WAISlamTools::_processNewKeyFrameThread = nullptr

protected

◆ _velocity

cv::Mat WAISlamTools::_velocity

protected

◆ _voc

WAIOrbVocabulary* WAISlamTools::_voc = nullptr

protected

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

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ~WAISlamTools()

◆ WAISlamTools()

Member Function Documentation

◆ checkKFConnectionsTree()

◆ countReprojectionOutliers()

◆ createMarkerFrame()

◆ createNewKeyFrame()

◆ detectCycle()

◆ doMarkerMapPreprocessing()

◆ drawInitInfo()

◆ drawKeyPointInfo()

◆ drawKeyPointMatches()

◆ findFrameFixedMapMatches()

◆ findMarkerHomography()

◆ genInitialMap()

◆ initialize()

◆ mapping()

◆ motionModel()

◆ needNewKeyFrame()

◆ oldInitialize()

◆ relocalization()

◆ relocalizationGPS()

◆ strictMapping()

◆ strictNeedNewKeyFrame()

◆ strictTracking()

◆ strictTrackReferenceKeyFrame()

◆ tracking()

◆ trackLocalMap()

◆ trackLocalMapPoints()

◆ trackReferenceKeyFrame()

◆ trackWithMotionModel()

◆ updateLocalMap()

Member Data Documentation

◆ _cameraExtrinsic

◆ _cameraExtrinsicGuess

◆ _cameraIntrinsic

◆ _distortion

◆ _globalMap

◆ _iniData

◆ _initialized

◆ _lastFrame

◆ _localMap

◆ _localMapping

◆ _loopClosing

◆ _loopClosingThread

◆ _mappingThreads

◆ _processNewKeyFrameThread

◆ _velocity

◆ _voc