Class for a Local Map. More...
#include <localmap.h>
Public Member Functions | |
| LocalMap ()=default | |
| LocalMap (size_t min_kf_number, size_t max_kf_number, size_t fixedFrameNumber) | |
| void | addFrame (std::shared_ptr< Frame > &frame) override |
| Add a frame to the local map. More... | |
| void | removeFrame (std::shared_ptr< Frame > &frame) |
| Remove a frame from the local map. More... | |
| size_t | getWindowSize () |
| size_t | getFixedFrameNumber () |
| std::vector< Eigen::Affine3d > & | getOldFramesPoses () |
| bool | computeRelativePose (std::shared_ptr< Frame > &frame1, std::shared_ptr< Frame > &frame2, Eigen::Affine3d &T_f1_f2, Eigen::MatrixXd &cov) |
| Compute the relative pose between two frames. More... | |
| bool | getMarginalizationFlag () |
| void | discardLastFrame () |
| Discard the last frame from the local map. More... | |
| void | reset () |
| Reset the local map. More... | |
 Public Member Functions inherited from isae::AMap | |
| AMap ()=default | |
| virtual void | addFrame (std::shared_ptr< isae::Frame > &frame)=0 |
| Add a frame to the map. More... | |
| std::deque< std::shared_ptr< Frame > > & | getFrames () |
| std::shared_ptr< isae::Frame > | getLastFrame () |
| Get the last frame added to the map. More... | |
| void | getLastNFramesIn (size_t N, std::vector< std::shared_ptr< isae::Frame >> &dest) |
| Provides the last N frames added to the map. More... | |
| typed_vec_landmarks & | getLandmarks () |
| size_t | getMapSize () |
| void | pushLandmarks (std::shared_ptr< isae::Frame > &frame) |
| Add all the landmarks of a frame to the map. More... | |
Protected Member Functions | |
| void | removeEmptyLandmarks () |
| Remove landmarks from the local map that do not have any features. More... | |
Protected Attributes | |
| size_t | _min_kf_number = 1 |
| number of keyframes that are added by default when the map starts More... | |
| size_t | _max_kf_number = 7 |
| size of the sliding window More... | |
| size_t | _fixed_frames_number = 1 |
| number of frame that remain static during windowed BA More... | |
| bool | _margin_flag |
| flag raised if the the last frame needs to be marginalized More... | |
| std::vector< Eigen::Affine3d > | _removed_frame_poses |
| old frames poses, for debugging purposes More... | |
| std::mutex | _localmap_mtx |
| Protected Attributes inherited from isae::AMap | |
| std::deque< std::shared_ptr< Frame > > | _frames |
| A deque of frames in the map, ordered by time. More... | |
| typed_vec_landmarks | _landmarks |
| All types of landmark in the map stored as std vectors. More... | |
Detailed Description
Class for a Local Map.
This is a local map that implements a sliding window approach.
Constructor & Destructor Documentation
◆ LocalMap() [1/2]
|
default |
◆ LocalMap() [2/2]
| isae::LocalMap::LocalMap | ( | size_t | min_kf_number, |
| size_t | max_kf_number, | ||
| size_t | fixedFrameNumber | ||
| ) |
Member Function Documentation
◆ addFrame()
|
override |
Add a frame to the local map.
This method adds a frame to the local map and also pushes its landmarks into the map. It implements a sliding window approach, removing the oldest frame if the maximum number of keyframes is reached.
◆ computeRelativePose()
| bool isae::LocalMap::computeRelativePose | ( | std::shared_ptr< Frame > & | frame1, |
| std::shared_ptr< Frame > & | frame2, | ||
| Eigen::Affine3d & | T_f1_f2, | ||
| Eigen::MatrixXd & | cov | ||
| ) |
Compute the relative pose between two frames.
This method computes the relative pose between two frames of the local map and derives the covariance of the pose estimation.
◆ discardLastFrame()
| void isae::LocalMap::discardLastFrame | ( | ) |
Discard the last frame from the local map.
This method discards the last frame from the local map and updates the sliding window accordingly. It also sets the marginalization flag to false.
◆ getFixedFrameNumber()
|
inline |
◆ getMarginalizationFlag()
|
inline |
◆ getOldFramesPoses()
|
inline |
◆ getWindowSize()
|
inline |
◆ removeEmptyLandmarks()
|
protected |
Remove landmarks from the local map that do not have any features.
This method iterates through all landmarks in the local map and removes those that have no associated features. It is called after discarding a frame to ensure the map remains clean.
◆ removeFrame()
| void isae::LocalMap::removeFrame | ( | std::shared_ptr< Frame > & | frame | ) |
Remove a frame from the local map.
This method removes a frame from the local map and also removes its landmarks from the map. It updates the sliding window accordingly.
◆ reset()
| void isae::LocalMap::reset | ( | ) |
Reset the local map.
This method resets the local map, clearing all frames and landmarks. It is useful for reinitializing the local map in case of a failure or a new session.
Member Data Documentation
◆ _fixed_frames_number
|
protected |
number of frame that remain static during windowed BA
◆ _localmap_mtx
|
mutableprotected |
◆ _margin_flag
|
protected |
flag raised if the the last frame needs to be marginalized
◆ _max_kf_number
|
protected |
size of the sliding window
◆ _min_kf_number
|
protected |
number of keyframes that are added by default when the map starts
◆ _removed_frame_poses
|
protected |
old frames poses, for debugging purposes
The documentation for this class was generated from the following files:
- /home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/include/isaeslam/data/maps/localmap.h
- /home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/src/data/maps/localmap.cpp
