Class cv::detail::SubmapManager

: Manages all the created submaps for a particular scene

#include <opencv2/ptcloud/detail/submap.hpp>

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Public Types

enum class Type {
    Type::NEW = 0,
    Type::CURRENT = 1,
    Type::RELOCALISATION = 2,
    Type::LOOP_CLOSURE = 3,
    Type::LOST = 4
}

Detailed Description

: Manages all the created submaps for a particular scene

Member Typedef Documentation

IdToActiveSubmaps

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

IdToSubmapPtr

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

SubmapT

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

Member Enumeration Documentation

enum Type

NEW

CURRENT

RELOCALISATION

LOOP_CLOSURE

LOST

Constructor & Destructor Documentation

SubmapManager()

cv::detail::SubmapManager::SubmapManager(const VolumeSettings & _volumeSettings)

~SubmapManager()

cv::detail::SubmapManager::~SubmapManager()

Member Function Documentation

addEdgeToCurrentSubmap()

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

createNewSubmap()

int cv::detail::SubmapManager::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()

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

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getCurrentSubmap()

Ptr< SubmapT > cv::detail::SubmapManager::getCurrentSubmap(void)

getSubmap()

Ptr< SubmapT > cv::detail::SubmapManager::getSubmap(int _id)

MapToPoseGraph()

Ptr< detail::PoseGraph > cv::detail::SubmapManager::MapToPoseGraph()

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numOfActiveSubmaps()

size_t cv::detail::SubmapManager::numOfActiveSubmaps(void)

numOfSubmaps()

size_t cv::detail::SubmapManager::numOfSubmaps(void)

PoseGraphToMap()

void cv::detail::SubmapManager::PoseGraphToMap(const Ptr< detail::PoseGraph > & updatedPoseGraph)

removeSubmap()

void cv::detail::SubmapManager::removeSubmap(int _id)

reset()

void cv::detail::SubmapManager::reset()

shouldChangeCurrSubmap()

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

shouldCreateSubmap()

bool cv::detail::SubmapManager::shouldCreateSubmap(int frameId)

updateMap()

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

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Member Data Documentation

activeSubmaps

IdToActiveSubmaps cv::detail::SubmapManager::activeSubmaps

poseGraph

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

submapList

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

volumeSettings

VolumeSettings cv::detail::SubmapManager::volumeSettings

Source file

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

• opencv2/ptcloud/detail/submap.hpp