The core abstract class of the SLAM system. It handles front-end, back-end and initialization. More...

#include <slamCore.h>

Inheritance diagram for isae::SLAMCore:

[legend]

Public Member Functions
	SLAMCore ()

	SLAMCore (std::shared_ptr< isae::SLAMParameters > slam_param)

virtual bool	init ()=0
	Initialization step : create the first 3D landmarks and keyframe(s) More...

virtual bool	frontEndStep ()=0
	Front End: detection, tracking, pose estimation and landmark triangulation. More...

virtual bool	backEndStep ()=0
	brief description Back End: marginalization, local map optimization More...

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...

Public Attributes
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
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

The core abstract class of the SLAM system. It handles front-end, back-end and initialization.

This is the skeleton of the SLAM system that will call all the subsystems (sensor processing, optimizer, map processing...) It loads all the parameters of the SLAM and implements frontEnd and backEnds that must be called in a separated thread. A few important methods relative to feature processing and pose estimation are implemented as well to make the frontEndStep() and backEndStep() methods readable. Also, a few profiling variables and methods are implemented to monitor the performances.

Constructor & Destructor Documentation

◆ SLAMCore() [1/2]

isae::SLAMCore::SLAMCore ( )

inline

◆ SLAMCore() [2/2]

isae::SLAMCore::SLAMCore ( std::shared_ptr< isae::SLAMParameters > slam_param )

Member Function Documentation

◆ backEndStep()

virtual bool isae::SLAMCore::backEndStep ( )

pure virtual

brief description Back End: marginalization, local map optimization

Implemented in isae::SLAMNonOverlappingFov, isae::SLAMMono, isae::SLAMMonoVIO, isae::SLAMBiMonoVIO, and isae::SLAMBiMono.

◆ cleanFeatures()

void isae::SLAMCore::cleanFeatures ( std::shared_ptr< Frame > & f )

Clean all the features that are outliers or are linked to outlier landmark.

◆ detectFeatures()

typed_vec_features isae::SLAMCore::detectFeatures ( std::shared_ptr< ImageSensor > & sensor )

Detect all types of features for a given sensor with bucketting.

◆ epipolarFiltering()

typed_vec_match isae::SLAMCore::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.

Parameters

cam0	First sensor
cam1	Second sensor
matches	Typed vector of matches to be filtered

Returns: A Typed vector of the valid matches

◆ frontEndStep()

virtual bool isae::SLAMCore::frontEndStep ( )

pure virtual

Front End: detection, tracking, pose estimation and landmark triangulation.

Implemented in isae::SLAMNonOverlappingFov, isae::SLAMMono, isae::SLAMMonoVIO, isae::SLAMBiMonoVIO, and isae::SLAMBiMono.

◆ getLastKF()

std::shared_ptr<Frame> isae::SLAMCore::getLastKF ( )

inline

◆ init()

virtual bool isae::SLAMCore::init ( )

pure virtual

Initialization step : create the first 3D landmarks and keyframe(s)

Implemented in isae::SLAMNonOverlappingFov, isae::SLAMMono, isae::SLAMMonoVIO, isae::SLAMBiMonoVIO, and isae::SLAMBiMono.

◆ initLandmarks()

void isae::SLAMCore::initLandmarks ( std::shared_ptr< Frame > & f )

Initialize all the landmarks of the current frame using _matches_in_time and _matches_in_frame.

◆ matchFeatures()

uint isae::SLAMCore::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.

Parameters

sensor0	First sensor
sensor1	Second sensor
matches	Typed vector of matches without landmarks passed as reference
matches_lmk	Typed vector of matches with landmarks passed as reference
features_to_track	Typed vector of the features on sensor0 that will be matched for prediction

Returns: The number of tracks

◆ outlierRemoval()

void isae::SLAMCore::outlierRemoval ( )

Remove all the outlier features of _frame.

◆ predict()

bool isae::SLAMCore::predict ( std::shared_ptr< Frame > & f )

Estimates the pose of a given frame.

Parameters

f	The frame whose pose is estimated passed as a reference

Returns: True if the prediction is a success, False otherwise

◆ predictFeature()

void isae::SLAMCore::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.

Parameters

features	Set of features to be predicted
sensor	Sensor on which the features has to be predicted
features_init	The set of features predicted passed as a reference
previous_matches	A prior on features_init that can eventually be used default is an empty set

◆ profiling()

void isae::SLAMCore::profiling ( )

A function to monitor the SLAM behaviour.

◆ recoverFeatureFromMapLandmarks()

uint isae::SLAMCore::recoverFeatureFromMapLandmarks	(	std::shared_ptr< isae::AMap >	localmap,
		std::shared_ptr< Frame > &	f
	)

Performs landmark resurection.

Parameters

localmap	Local maps that contains the landmark to project
f	Frame on which the landmarks are resurected

Returns: The number of resurected landmarks

◆ runBackEnd()

void isae::SLAMCore::runBackEnd ( )

Thread for the backend.

◆ runFrontEnd()

void isae::SLAMCore::runFrontEnd ( )

Thread for the frontend.

◆ runFullOdom()

void isae::SLAMCore::runFullOdom ( )

Thread for the backend.

◆ shouldInsertKeyframe()

bool isae::SLAMCore::shouldInsertKeyframe ( std::shared_ptr< Frame > & f )

Determines if the frame in argument is a KF.

◆ trackFeatures()

uint isae::SLAMCore::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.

Parameters

sensor0	First sensor
sensor1	Second sensor
matches	Typed vector of matches without landmarks passed as reference
matches_lmk	Typed vector of matches with landmarks passed as reference
features_to_track	Typed vector of the features on sensor0 that will be tracked for prediction

Returns: The number of tracks

◆ updateLandmarks()

void isae::SLAMCore::updateLandmarks ( typed_vec_match matches_lmk )

Member Data Documentation

◆ _6d_velocity

Vector6d isae::SLAMCore::_6d_velocity

protected

Current Velocity as a Twist vector.

◆ _avg_clean_t

float isae::SLAMCore::_avg_clean_t

protected

◆ _avg_detect_t

float isae::SLAMCore::_avg_detect_t

protected

◆ _avg_filter_t

float isae::SLAMCore::_avg_filter_t

protected

◆ _avg_frame_opt_t

float isae::SLAMCore::_avg_frame_opt_t

protected

◆ _avg_lmk_init_t

float isae::SLAMCore::_avg_lmk_init_t

protected

◆ _avg_lmk_resur_t

float isae::SLAMCore::_avg_lmk_resur_t

protected

◆ _avg_marg_t

float isae::SLAMCore::_avg_marg_t

protected

◆ _avg_match_frame_t

float isae::SLAMCore::_avg_match_frame_t

protected

◆ _avg_match_time_t

float isae::SLAMCore::_avg_match_time_t

protected

◆ _avg_matches_frame

float isae::SLAMCore::_avg_matches_frame

protected

◆ _avg_matches_time

float isae::SLAMCore::_avg_matches_time

protected

◆ _avg_predict_t

float isae::SLAMCore::_avg_predict_t

protected

◆ _avg_processing_t

float isae::SLAMCore::_avg_processing_t

protected

◆ _avg_resur_lmk

float isae::SLAMCore::_avg_resur_lmk

protected

◆ _avg_wdw_opt_t

float isae::SLAMCore::_avg_wdw_opt_t

protected

◆ _frame

std::shared_ptr<Frame> isae::SLAMCore::_frame

protected

Current frame.

◆ _frame_to_display

std::shared_ptr<Frame> isae::SLAMCore::_frame_to_display

◆ _frame_to_optim

std::shared_ptr<Frame> isae::SLAMCore::_frame_to_optim

protected

For communication between front-end and back-end.

◆ _global_map

std::shared_ptr<isae::GlobalMap> isae::SLAMCore::_global_map

protected

Current global map.

◆ _global_map_to_display

std::shared_ptr<isae::GlobalMap> isae::SLAMCore::_global_map_to_display

◆ _is_init

bool isae::SLAMCore::_is_init = false

Flag for initialization.

◆ _lmk_inmap

float isae::SLAMCore::_lmk_inmap

protected

◆ _local_map

std::shared_ptr<isae::LocalMap> isae::SLAMCore::_local_map

protected

Current local map.

◆ _local_map_to_display

std::shared_ptr<isae::LocalMap> isae::SLAMCore::_local_map_to_display

◆ _map_mutex

std::mutex isae::SLAMCore::_map_mutex

protected

◆ _matches_in_frame

typed_vec_match isae::SLAMCore::_matches_in_frame

protected

Typed vector of the matches between the sensors of _frame.

◆ _matches_in_frame_lmk

typed_vec_match isae::SLAMCore::_matches_in_frame_lmk

protected

Typed vector of the matches with landmarks between the sensors of _frame.

◆ _matches_in_time

typed_vec_match isae::SLAMCore::_matches_in_time

protected

Typed vector of the matches between the last KF and _frame.

◆ _matches_in_time_lmk

typed_vec_match isae::SLAMCore::_matches_in_time_lmk

protected

Typed vector of the matches with landmarks between the last KF and _frame.

◆ _max_movement_parallax

double isae::SLAMCore::_max_movement_parallax

protected

Max parallax until a KF is voted.

◆ _mesh_to_display

std::shared_ptr<Mesh3D> isae::SLAMCore::_mesh_to_display

◆ _mesher

std::shared_ptr<Mesher> isae::SLAMCore::_mesher

protected

Mesher of the SLAM.

◆ _min_lmk_number

double isae::SLAMCore::_min_lmk_number

protected

Under this number of landmark in _frame a KF is voted.

◆ _min_movement_parallax

double isae::SLAMCore::_min_movement_parallax

protected

Under this parallax, no motion is considered.

◆ _nframes

uint isae::SLAMCore::_nframes

protected

◆ _nkeyframes

uint isae::SLAMCore::_nkeyframes

protected

◆ _parallax

double isae::SLAMCore::_parallax

protected

Parallax between the last KF and _frame.

◆ _removed_feat

float isae::SLAMCore::_removed_feat

protected

◆ _removed_lmk

float isae::SLAMCore::_removed_lmk

protected

◆ _slam_param

std::shared_ptr<isae::SLAMParameters> isae::SLAMCore::_slam_param

◆ _successive_fails

int isae::SLAMCore::_successive_fails = 0

Number of successive failure to trigger reinitialization.

◆ _timings_frate

std::vector<std::vector<float> > isae::SLAMCore::_timings_frate

protected

◆ _timings_kfrate_be

std::vector<std::vector<float> > isae::SLAMCore::_timings_kfrate_be

protected

◆ _timings_kfrate_fe

std::vector<std::vector<float> > isae::SLAMCore::_timings_kfrate_fe

protected

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/slamCore.cpp

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ SLAMCore() [1/2]

◆ SLAMCore() [2/2]

Member Function Documentation

◆ backEndStep()

◆ cleanFeatures()

◆ detectFeatures()

◆ epipolarFiltering()

◆ frontEndStep()

◆ getLastKF()

◆ init()

◆ initLandmarks()

◆ matchFeatures()

◆ outlierRemoval()

◆ predict()

◆ predictFeature()

◆ profiling()

◆ recoverFeatureFromMapLandmarks()

◆ runBackEnd()

◆ runFrontEnd()

◆ runFullOdom()

◆ shouldInsertKeyframe()

◆ trackFeatures()

◆ updateLandmarks()

Member Data Documentation

◆ _6d_velocity

◆ _avg_clean_t

◆ _avg_detect_t

◆ _avg_filter_t

◆ _avg_frame_opt_t

◆ _avg_lmk_init_t

◆ _avg_lmk_resur_t

◆ _avg_marg_t

◆ _avg_match_frame_t

◆ _avg_match_time_t

◆ _avg_matches_frame

◆ _avg_matches_time

◆ _avg_predict_t

◆ _avg_processing_t

◆ _avg_resur_lmk

◆ _avg_wdw_opt_t

◆ _frame

◆ _frame_to_display

◆ _frame_to_optim

◆ _global_map

◆ _global_map_to_display

◆ _is_init

◆ _lmk_inmap

◆ _local_map

◆ _local_map_to_display

◆ _map_mutex

◆ _matches_in_frame

◆ _matches_in_frame_lmk

◆ _matches_in_time

◆ _matches_in_time_lmk

◆ _max_movement_parallax

◆ _mesh_to_display

◆ _mesher

◆ _min_lmk_number

◆ _min_movement_parallax

◆ _nframes

◆ _nkeyframes

◆ _parallax

◆ _removed_feat

◆ _removed_lmk

◆ _slam_param

◆ _successive_fails

◆ _timings_frate

◆ _timings_kfrate_be

◆ _timings_kfrate_fe