A SLAM class for non overlapping FoV setups. More...

#include <slamCore.h>

Inheritance diagram for isae::SLAMNonOverlappingFov:

Collaboration diagram for isae::SLAMNonOverlappingFov:

Public Member Functions
	SLAMNonOverlappingFov ()

	SLAMNonOverlappingFov (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...

void	outlierRemoval ()
	To remove outliers on both cameras. More...

void	initLandmarks (std::shared_ptr< Frame > &f)
	To init landmarks on both cameras. More...

int	scaleEstimationRANSAC (const Eigen::Affine3d T_cam0_cam1, const Eigen::Affine3d T_cam0_cam0p, typed_vec_match matches_cam1, double &lambda)
	To compute the scale using a single point in a RANSAC fashion. More...

bool	isDegenerativeMotion (Eigen::Affine3d T_cam0_cam0p, Eigen::Affine3d T_cam0_cam1, typed_vec_match matches)
	To check if the scale can't be recovered. More...

bool	predict (std::shared_ptr< Frame > &f)
	Prediction that takes into account both camera motions. 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 non overlapping FoV setups.

Constructor & Destructor Documentation

◆ SLAMNonOverlappingFov() [1/2]

isae::SLAMNonOverlappingFov::SLAMNonOverlappingFov ( )

inline

◆ SLAMNonOverlappingFov() [2/2]

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

inline

Member Function Documentation

◆ backEndStep()

bool isae::SLAMNonOverlappingFov::backEndStep ( )

overridevirtual

brief description Back End: marginalization, local map optimization

Implements isae::SLAMCore.

◆ frontEndStep()

bool isae::SLAMNonOverlappingFov::frontEndStep ( )

overridevirtual

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

Implements isae::SLAMCore.

◆ init()

bool isae::SLAMNonOverlappingFov::init ( )

overridevirtual

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

Implements isae::SLAMCore.

◆ initLandmarks()

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

To init landmarks on both cameras.

◆ isDegenerativeMotion()

bool isae::SLAMNonOverlappingFov::isDegenerativeMotion	(	Eigen::Affine3d	T_cam0_cam0p,
		Eigen::Affine3d	T_cam0_cam1,
		typed_vec_match	matches
	)

To check if the scale can't be recovered.

◆ outlierRemoval()

void isae::SLAMNonOverlappingFov::outlierRemoval ( )

To remove outliers on both cameras.

◆ predict()

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

Prediction that takes into account both camera motions.

◆ scaleEstimationRANSAC()

int isae::SLAMNonOverlappingFov::scaleEstimationRANSAC	(	const Eigen::Affine3d	T_cam0_cam1,
		const Eigen::Affine3d	T_cam0_cam0p,
		typed_vec_match	matches_cam1,
		double &	lambda
	)

To compute the scale using a single point in a RANSAC fashion.

Parameters

T_cam0_cam1	Extrinsic between cameras
T_cam0_cam0p	Up to scale estimation of motion of cam0
matches_cam1	Matches in time of cam1
lambda	Scale estimate passed as reference

Returns: Number of inliers of the RANSAC

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/slamNonOverlappingFov.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SLAMNonOverlappingFov() [1/2]

◆ SLAMNonOverlappingFov() [2/2]

Member Function Documentation

◆ backEndStep()

◆ frontEndStep()

◆ init()

◆ initLandmarks()

◆ isDegenerativeMotion()

◆ outlierRemoval()

◆ predict()

◆ scaleEstimationRANSAC()