A SLAM class for bi-monocular setups. More...
#include <slamCore.h>
Inheritance diagram for isae::SLAMBiMono:
Collaboration diagram for isae::SLAMBiMono:
Public Member Functions | |
| SLAMBiMono (std::shared_ptr< SLAMParameters > slam_param) | |
| bool | init () override |
| Initialization step : create the first 3D landmarks and keyframe(s) More... | |
| bool | frontEndStep () override |
| Front End: detection, tracking, pose estimation and landmark triangulation. More... | |
| bool | backEndStep () override |
| brief description Back End: marginalization, local map optimization More... | |
 Public Member Functions inherited from isae::SLAMCore | |
| SLAMCore () | |
| SLAMCore (std::shared_ptr< isae::SLAMParameters > slam_param) | |
| void | runBackEnd () |
| Thread for the backend. More... | |
| void | runFrontEnd () |
| Thread for the frontend. More... | |
| void | runFullOdom () |
| Thread for the backend. More... | |
| typed_vec_features | detectFeatures (std::shared_ptr< ImageSensor > &sensor) |
| Detect all types of features for a given sensor with bucketting. More... | |
| void | cleanFeatures (std::shared_ptr< Frame > &f) |
| Clean all the features that are outliers or are linked to outlier landmark. More... | |
| uint | matchFeatures (std::shared_ptr< ImageSensor > &sensor0, std::shared_ptr< ImageSensor > &sensor1, typed_vec_match &matches, typed_vec_match &matches_lmk, typed_vec_features features_to_track) |
| Predicts the position of the features and matches all the features between sensors. More... | |
| uint | trackFeatures (std::shared_ptr< ImageSensor > &sensor0, std::shared_ptr< ImageSensor > &sensor1, typed_vec_match &matches, typed_vec_match &matches_lmk, typed_vec_features features_to_track) |
| Predicts the position of the features and tracks all the features. More... | |
| void | predictFeature (std::vector< std::shared_ptr< AFeature >> features, std::shared_ptr< ImageSensor > sensor, std::vector< std::shared_ptr< AFeature >> &features_init, vec_match previous_matches) |
| Predicts the position of a set of features on a given sensor. More... | |
| typed_vec_match | epipolarFiltering (std::shared_ptr< ImageSensor > &cam0, std::shared_ptr< ImageSensor > &cam1, typed_vec_match matches) |
| Filters the matches between two sensors (with consistent pose estimates) using epipolar plane check. More... | |
| void | outlierRemoval () |
| Remove all the outlier features of _frame. More... | |
| bool | predict (std::shared_ptr< Frame > &f) |
| Estimates the pose of a given frame. More... | |
| void | initLandmarks (std::shared_ptr< Frame > &f) |
| Initialize all the landmarks of the current frame using _matches_in_time and _matches_in_frame. More... | |
| void | updateLandmarks (typed_vec_match matches_lmk) |
| uint | recoverFeatureFromMapLandmarks (std::shared_ptr< isae::AMap > localmap, std::shared_ptr< Frame > &f) |
| Performs landmark resurection. More... | |
| bool | shouldInsertKeyframe (std::shared_ptr< Frame > &f) |
| Determines if the frame in argument is a KF. More... | |
| std::shared_ptr< Frame > | getLastKF () |
| void | profiling () |
| A function to monitor the SLAM behaviour. More... | |
Additional Inherited Members | |
| Public Attributes inherited from isae::SLAMCore | |
| bool | _is_init = false |
| Flag for initialization. More... | |
| int | _successive_fails = 0 |
| Number of successive failure to trigger reinitialization. More... | |
| std::shared_ptr< isae::SLAMParameters > | _slam_param |
| std::shared_ptr< Frame > | _frame_to_display |
| std::shared_ptr< isae::LocalMap > | _local_map_to_display |
| std::shared_ptr< isae::GlobalMap > | _global_map_to_display |
| std::shared_ptr< Mesh3D > | _mesh_to_display |
| Protected Attributes inherited from isae::SLAMCore | |
| std::shared_ptr< Frame > | _frame |
| Current frame. More... | |
| typed_vec_match | _matches_in_time |
| Typed vector of the matches between the last KF and _frame. More... | |
| typed_vec_match | _matches_in_time_lmk |
| Typed vector of the matches with landmarks between the last KF and _frame. More... | |
| typed_vec_match | _matches_in_frame |
| Typed vector of the matches between the sensors of _frame. More... | |
| typed_vec_match | _matches_in_frame_lmk |
| Typed vector of the matches with landmarks between the sensors of _frame. More... | |
| std::shared_ptr< isae::LocalMap > | _local_map |
| Current local map. More... | |
| std::shared_ptr< isae::GlobalMap > | _global_map |
| Current global map. More... | |
| std::shared_ptr< Mesher > | _mesher |
| Mesher of the SLAM. More... | |
| double | _max_movement_parallax |
| Max parallax until a KF is voted. More... | |
| double | _min_movement_parallax |
| Under this parallax, no motion is considered. More... | |
| double | _min_lmk_number |
| Under this number of landmark in _frame a KF is voted. More... | |
| double | _parallax |
| Parallax between the last KF and _frame. More... | |
| Vector6d | _6d_velocity |
| Current Velocity as a Twist vector. More... | |
| std::mutex | _map_mutex |
| std::shared_ptr< Frame > | _frame_to_optim |
| For communication between front-end and back-end. More... | |
| uint | _nframes |
| uint | _nkeyframes |
| float | _avg_detect_t |
| float | _avg_processing_t |
| float | _avg_match_frame_t |
| float | _avg_match_time_t |
| float | _avg_filter_t |
| float | _avg_lmk_init_t |
| float | _avg_lmk_resur_t |
| float | _avg_predict_t |
| float | _avg_frame_opt_t |
| float | _avg_clean_t |
| float | _avg_marg_t |
| float | _avg_wdw_opt_t |
| float | _removed_lmk |
| float | _removed_feat |
| float | _lmk_inmap |
| float | _avg_matches_time |
| float | _avg_matches_frame |
| float | _avg_resur_lmk |
| std::vector< std::vector< float > > | _timings_frate |
| std::vector< std::vector< float > > | _timings_kfrate_fe |
| std::vector< std::vector< float > > | _timings_kfrate_be |
Detailed Description
A SLAM class for bi-monocular setups.
Constructor & Destructor Documentation
◆ SLAMBiMono()
|
inline |
Member Function Documentation
◆ backEndStep()
|
overridevirtual |
brief description Back End: marginalization, local map optimization
Implements isae::SLAMCore.
◆ frontEndStep()
|
overridevirtual |
Front End: detection, tracking, pose estimation and landmark triangulation.
Implements isae::SLAMCore.
◆ init()
|
overridevirtual |
Initialization step : create the first 3D landmarks and keyframe(s)
Implements isae::SLAMCore.
The documentation for this class was generated from the following files:
- /home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/include/isaeslam/slamCore.h
- /home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/src/slamBiMono.cpp
