A class to handles 3D meshing via 2D triangulation on successive KFs. More...

#include <mesher.h>

Public Member Functions
	Mesher (std::string slam_mode, double ZNCC_tsh, double max_length_tsh)

std::vector< FeatPolygon >	createMesh2D (std::shared_ptr< ImageSensor > sensor)
	Create a 2D mesh for a given image sensor. More...

std::vector< cv::Vec6f >	computeMesh2D (const cv::Size img_size, const std::vector< cv::Point2f > p2f_to_triangulate)
	Compute the Delaunnay triangulation of a set of openCV points in an image. More...

void	addNewKF (std::shared_ptr< Frame > frame)
	add a new KF in the queue (for the thread) More...

bool	getNewKf ()

void	run ()
	The thread function. More...

Public Attributes
std::queue< std::shared_ptr< Frame > >	_kf_queue
	The queue of keyframes to process. More...

std::shared_ptr< Frame >	_curr_kf
	The current keyframe being processed. More...

std::shared_ptr< Mesh3D >	_mesh_3d
	The 3D mesh object. More...

std::string	_slam_mode
	The SLAM mode (e.g., "nofov", "bimono", etc.) More...

double	_avg_mesh_t
	Average time taken to process a mesh update for profiling. More...

int	_n_kf
	Number of keyframes processed for profiling. More...

std::mutex	_mesher_mtx

Detailed Description

A class to handles 3D meshing via 2D triangulation on successive KFs.

It works as a thread that receives new KFs and computes the 2D mesh for each image sensor then update the 3D Mesh accordingly

Constructor & Destructor Documentation

◆ Mesher()

isae::Mesher::Mesher	(	std::string	slam_mode,
		double	ZNCC_tsh,
		double	max_length_tsh
	)

Member Function Documentation

◆ addNewKF()

void isae::Mesher::addNewKF ( std::shared_ptr< Frame > frame )

add a new KF in the queue (for the thread)

◆ computeMesh2D()

std::vector< cv::Vec6f > isae::Mesher::computeMesh2D	(	const cv::Size	img_size,
		const std::vector< cv::Point2f >	p2f_to_triangulate
	)

Compute the Delaunnay triangulation of a set of openCV points in an image.

◆ createMesh2D()

std::vector< FeatPolygon > isae::Mesher::createMesh2D ( std::shared_ptr< ImageSensor > sensor )

Create a 2D mesh for a given image sensor.

◆ getNewKf()

bool isae::Mesher::getNewKf ( )

◆ run()

void isae::Mesher::run ( )

The thread function.

Member Data Documentation

◆ _avg_mesh_t

double isae::Mesher::_avg_mesh_t

Average time taken to process a mesh update for profiling.

◆ _curr_kf

std::shared_ptr<Frame> isae::Mesher::_curr_kf

The current keyframe being processed.

◆ _kf_queue

std::queue<std::shared_ptr<Frame> > isae::Mesher::_kf_queue

The queue of keyframes to process.

◆ _mesh_3d

std::shared_ptr<Mesh3D> isae::Mesher::_mesh_3d

The 3D mesh object.

◆ _mesher_mtx

std::mutex isae::Mesher::_mesher_mtx

mutable

◆ _n_kf

int isae::Mesher::_n_kf

Number of keyframes processed for profiling.

◆ _slam_mode

std::string isae::Mesher::_slam_mode

The SLAM mode (e.g., "nofov", "bimono", etc.)

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

/home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/include/isaeslam/data/mesh/mesher.h
/home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/src/data/mesh/mesher.cpp

Public Member Functions

Public Attributes