WAISlamTrackPool Class Reference

#include <WAISlamTrackPool.h>

Inheritance diagram for WAISlamTrackPool:

Classes
struct	Params

Public Member Functions
	WAISlamTrackPool (const cv::Mat &intrinsic, const cv::Mat &distortion, WAIOrbVocabulary *voc, KPextractor *iniExtractor, KPextractor *relocExtractor, KPextractor *extractor, std::unique_ptr< WAIMap > globalMap, Params params)
virtual	~WAISlamTrackPool ()
bool	update (cv::Mat &imageGray)
virtual WAITrackingState	getTrackingState ()
void	changeIntrinsic (cv::Mat intrinsic, cv::Mat distortion)
cv::Mat	getPose ()
void	drawInfo (cv::Mat &imageBGR, float scale, bool showInitLine, bool showKeyPoints, bool showKeyPointsMatched)
virtual std::vector< WAIMapPoint * >	getMapPoints ()
std::vector< WAIMapPoint * >	getMatchedMapPoints ()

Private Member Functions
void	createFrame (WAIFrame &frame, cv::Mat &imageGray)
void	updatePose (WAIFrame &frame)

Private Attributes
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
WAITrackingState	_state
std::mutex	_cameraExtrinsicMutex

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

Constructor & Destructor Documentation

WAISlamTrackPool()

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

~WAISlamTrackPool()

WAISlamTrackPool::~WAISlamTrackPool ( )

virtual

Member Function Documentation

changeIntrinsic()

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

createFrame()

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

private

drawInfo()

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

getMapPoints()

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

inlinevirtual

getMatchedMapPoints()

std::vector< WAIMapPoint * > WAISlamTrackPool::getMatchedMapPoints

(

)

getPose()

cv::Mat WAISlamTrackPool::getPose

(

)

getTrackingState()

virtual WAITrackingState WAISlamTrackPool::getTrackingState ( )

inlinevirtual

update()

bool WAISlamTrackPool::update

(

cv::Mat &

imageGray

)

updatePose()

void WAISlamTrackPool::updatePose ( WAIFrame &  frame )

private

Member Data Documentation

_cameraExtrinsicMutex

std::mutex WAISlamTrackPool::_cameraExtrinsicMutex

private

_extractor

KPextractor* WAISlamTrackPool::_extractor = nullptr

private

_infoMatchedInliners

int WAISlamTrackPool::_infoMatchedInliners = 0

private

_iniExtractor

KPextractor* WAISlamTrackPool::_iniExtractor = nullptr

private

_lastKeyFrameFrameId

unsigned long WAISlamTrackPool::_lastKeyFrameFrameId = 0

private

_lastRelocFrameId

unsigned long WAISlamTrackPool::_lastRelocFrameId = 0

private

_params

Params WAISlamTrackPool::_params

private

_relocExtractor

KPextractor* WAISlamTrackPool::_relocExtractor = nullptr

private

_relocFrameCounter

unsigned int WAISlamTrackPool::_relocFrameCounter = 0

private

_state

WAITrackingState WAISlamTrackPool::_state

private

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

• WAISlamTrackPool.h
• WAISlamTrackPool.cpp