cv::detail::SubmapManager< MatType > Class Template Reference

: Manages all the created submaps for a particular scene More...

#include <opencv2/3d/detail/submap.hpp>

Collaboration diagram for cv::detail::SubmapManager< MatType >:

Classes
struct	ActiveSubmapData

Public Types
typedef std::unordered_map< int, ActiveSubmapData >	IdToActiveSubmaps
typedef std::map< int, Ptr< SubmapT > >	IdToSubmapPtr
typedef Submap< MatType >	SubmapT
enum class	Type {   NEW = 0 ,   CURRENT = 1 ,   RELOCALISATION = 2 ,   LOOP_CLOSURE = 3 ,   LOST = 4 }

Public Member Functions
	SubmapManager (const VolumeSettings &_volumeSettings)
virtual	~SubmapManager ()=default
bool	addEdgeToCurrentSubmap (const int currentSubmapID, const int tarSubmapID)
int	createNewSubmap (bool isCurrentActiveMap, const int currFrameId=0, const Affine3f &pose=cv::Affine3f::Identity())
	Adds a new submap/volume into the current list of managed/Active submaps.
int	estimateConstraint (int fromSubmapId, int toSubmapId, int &inliers, Affine3f &inlierPose)
Ptr< SubmapT >	getCurrentSubmap (void) const
Ptr< SubmapT >	getSubmap (int _id) const
Ptr< detail::PoseGraph >	MapToPoseGraph ()
size_t	numOfActiveSubmaps (void) const
size_t	numOfSubmaps (void) const
void	PoseGraphToMap (const Ptr< detail::PoseGraph > &updatedPoseGraph)
void	removeSubmap (int _id)
void	reset ()
bool	shouldChangeCurrSubmap (int _frameId, int toSubmapId)
bool	shouldCreateSubmap (int frameId)
bool	updateMap (int frameId, const OdometryFrame &frame)

Public Attributes
IdToActiveSubmaps	activeSubmaps
Ptr< detail::PoseGraph >	poseGraph
std::vector< Ptr< SubmapT > >	submapList
VolumeSettings	volumeSettings

Detailed Description

template<typename MatType>
class cv::detail::SubmapManager< MatType >

: Manages all the created submaps for a particular scene

Member Typedef Documentation

IdToActiveSubmaps

template<typename MatType >

std::unordered_map<int, ActiveSubmapData> cv::detail::SubmapManager< MatType >::IdToActiveSubmaps

IdToSubmapPtr

template<typename MatType >

std::map<int, Ptr<SubmapT> > cv::detail::SubmapManager< MatType >::IdToSubmapPtr

SubmapT

template<typename MatType >

Submap<MatType> cv::detail::SubmapManager< MatType >::SubmapT

Member Enumeration Documentation

Type

template<typename MatType >

enum class cv::detail::SubmapManager::Type

strong

Enumerator
NEW
CURRENT
RELOCALISATION
LOOP_CLOSURE
LOST

Constructor & Destructor Documentation

SubmapManager()

template<typename MatType >

cv::detail::SubmapManager< MatType >::SubmapManager ( const VolumeSettings & _volumeSettings )

inlineexplicit

~SubmapManager()

template<typename MatType >

virtual cv::detail::SubmapManager< MatType >::~SubmapManager ( )

virtualdefault

Member Function Documentation

addEdgeToCurrentSubmap()

template<typename MatType >

bool cv::detail::SubmapManager< MatType >::addEdgeToCurrentSubmap	(	const int	currentSubmapID,
		const int	tarSubmapID )

createNewSubmap()

template<typename MatType >

int cv::detail::SubmapManager< MatType >::createNewSubmap	(	bool	isCurrentActiveMap,
		const int	currFrameId = 0,
		const Affine3f &	pose = cv::Affine3f::Identity() )

Adds a new submap/volume into the current list of managed/Active submaps.

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estimateConstraint()

template<typename MatType >

int cv::detail::SubmapManager< MatType >::estimateConstraint	(	int	fromSubmapId,
		int	toSubmapId,
		int &	inliers,
		Affine3f &	inlierPose )

thresh = HUBER_THRESH

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getCurrentSubmap()

template<typename MatType >

Ptr< Submap< MatType > > cv::detail::SubmapManager< MatType >::getCurrentSubmap

(

void

)

const

getSubmap()

template<typename MatType >

Ptr< Submap< MatType > > cv::detail::SubmapManager< MatType >::getSubmap

(

int

_id

)

const

MapToPoseGraph()

template<typename MatType >

Ptr< detail::PoseGraph > cv::detail::SubmapManager< MatType >::MapToPoseGraph

(

)

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numOfActiveSubmaps()

template<typename MatType >

size_t cv::detail::SubmapManager< MatType >::numOfActiveSubmaps ( void ) const

inline

numOfSubmaps()

template<typename MatType >

size_t cv::detail::SubmapManager< MatType >::numOfSubmaps ( void ) const

inline

PoseGraphToMap()

template<typename MatType >

void cv::detail::SubmapManager< MatType >::PoseGraphToMap

(

const Ptr< detail::PoseGraph > &

updatedPoseGraph

)

removeSubmap()

template<typename MatType >

void cv::detail::SubmapManager< MatType >::removeSubmap

(

int

_id

)

reset()

template<typename MatType >

void cv::detail::SubmapManager< MatType >::reset ( )

inline

shouldChangeCurrSubmap()

template<typename MatType >

bool cv::detail::SubmapManager< MatType >::shouldChangeCurrSubmap	(	int	_frameId,
		int	toSubmapId )

TODO: Check for a specific threshold?

shouldCreateSubmap()

template<typename MatType >

bool cv::detail::SubmapManager< MatType >::shouldCreateSubmap

(

int

frameId

)

TODO: This shouldn't be happening? since there should always be one active current submap

updateMap()

template<typename MatType >

bool cv::detail::SubmapManager< MatType >::updateMap	(	int	frameId,
		const OdometryFrame &	frame )

TODO: Add a new type called NEW_LOST?

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Member Data Documentation

activeSubmaps

template<typename MatType >

IdToActiveSubmaps cv::detail::SubmapManager< MatType >::activeSubmaps

poseGraph

template<typename MatType >

Ptr<detail::PoseGraph> cv::detail::SubmapManager< MatType >::poseGraph

submapList

template<typename MatType >

std::vector<Ptr<SubmapT> > cv::detail::SubmapManager< MatType >::submapList

volumeSettings

template<typename MatType >

VolumeSettings cv::detail::SubmapManager< MatType >::volumeSettings

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

• opencv2/3d/detail/submap.hpp