Allow to manage all components of a map. UUID: 90075c1b-915b-469d-b92d-41c5d575bf15 More...

#include <IMapper.h>

Inheritance diagram for SolAR::api::solver::map::IMapper:

Collaboration diagram for SolAR::api::solver::map::IMapper:

Public Member Functions
	IMapper ()=default
	IMapper default constructor.

virtual	~IMapper ()
	IMapper default destructor.

virtual FrameworkReturnCode	set (const SRef< IMapper > mapper)=0
	Set the mapper. More...

virtual FrameworkReturnCode	get (SRef< IMapper > &mapper)=0
	Get the mapper. More...

virtual FrameworkReturnCode	setIdentification (const SRef< datastructure::Identification > identification)=0
	Set identification component. More...

virtual FrameworkReturnCode	getIdentification (SRef< datastructure::Identification > &identification) const =0
	Get identification component. More...

virtual FrameworkReturnCode	setCoordinateSystem (const SRef< datastructure::CoordinateSystem > coordinateSystem)=0
	Set coordinate system component. More...

virtual FrameworkReturnCode	getCoordinateSystem (SRef< datastructure::CoordinateSystem > &coordinateSystem) const =0
	Get coordinate system component. More...

virtual FrameworkReturnCode	setPointCloudManager (const SRef< storage::IPointCloudManager > pointCloudManager)=0
	Set point cloud component. More...

virtual FrameworkReturnCode	getPointCloudManager (SRef< storage::IPointCloudManager > &pointCloudManager) const =0
	Get point cloud component. More...

virtual FrameworkReturnCode	setKeyframesManager (const SRef< storage::IKeyframesManager > keyframesManager)=0
	Set keyframes manager component. More...

virtual FrameworkReturnCode	getKeyframesManager (SRef< storage::IKeyframesManager > &keyframesManager) const =0
	Get keyframes manager component. More...

virtual FrameworkReturnCode	setCovisibilityGraph (const SRef< storage::ICovisibilityGraph > covisibilityGraph)=0
	Set covisibility graph component. More...

virtual FrameworkReturnCode	getCovisibilityGraph (SRef< storage::ICovisibilityGraph > &covisibilityGraph) const =0
	Get covisibility graph component. More...

virtual FrameworkReturnCode	setKeyframeRetriever (const SRef< reloc::IKeyframeRetriever > keyframeRetriever)=0
	Set keyframe retriever component. More...

virtual FrameworkReturnCode	getKeyframeRetriever (SRef< reloc::IKeyframeRetriever > &keyframeRetriever) const =0
	Get keyframe retriever component. More...

virtual FrameworkReturnCode	getLocalPointCloud (const SRef< datastructure::Keyframe > keyframe, const float minWeightNeighbor, std::vector< SRef< datastructure::CloudPoint >> &localPointCloud) const =0
	Get local point cloud seen from the keyframe and its neighbors. More...

virtual FrameworkReturnCode	addCloudPoint (const SRef< datastructure::CloudPoint > cloudPoint)=0
	Add a point cloud to mapper and update visibility of keyframes and covisibility graph. More...

virtual FrameworkReturnCode	removeCloudPoint (const SRef< datastructure::CloudPoint > cloudPoint)=0
	Remove a point cloud from mapper and update visibility of keyframes and covisibility graph. More...

virtual FrameworkReturnCode	removeKeyframe (const SRef< datastructure::Keyframe > keyframe)=0
	Remove a keyframe from mapper and update visibility of point cloud and covisibility graph. More...

virtual void	pruning (const std::vector< SRef< datastructure::CloudPoint >> &cloudPoints={})=0
	Prune cloud points and keyframes of a map. More...

virtual FrameworkReturnCode	saveToFile () const =0
	Save the map to the external file. More...

virtual FrameworkReturnCode	loadFromFile ()=0
	Load the map from the external file. More...

Detailed Description

Allow to manage all components of a map. UUID: 90075c1b-915b-469d-b92d-41c5d575bf15

Member Function Documentation

◆ addCloudPoint()

virtual FrameworkReturnCode SolAR::api::solver::map::IMapper::addCloudPoint ( const SRef< datastructure::CloudPoint > cloudPoint )

pure virtual

Add a point cloud to mapper and update visibility of keyframes and covisibility graph.

Parameters

[in] cloudPoint the cloud point to add to the mapper

Returns: FrameworkReturnCode::SUCCESS if succeed, else FrameworkReturnCode::_ERROR

◆ get()

virtual FrameworkReturnCode SolAR::api::solver::map::IMapper::get ( SRef< IMapper > & mapper )

pure virtual

Get the mapper.

Returns: FrameworkReturnCode::SUCCESS if successfully, else FrameworkReturnCode::_ERROR.

◆ getCoordinateSystem()

virtual FrameworkReturnCode SolAR::api::solver::map::IMapper::getCoordinateSystem ( SRef< datastructure::CoordinateSystem > & coordinateSystem ) const

pure virtual

Get coordinate system component.

Parameters

[out] a coordinate system instance

Returns: FrameworkReturnCode::SUCCESS if succeed, else FrameworkReturnCode::_ERROR

◆ getCovisibilityGraph()

virtual FrameworkReturnCode SolAR::api::solver::map::IMapper::getCovisibilityGraph ( SRef< storage::ICovisibilityGraph > & covisibilityGraph ) const

pure virtual

Get covisibility graph component.

Parameters

[out] a covisibility graph instance

Returns: FrameworkReturnCode::SUCCESS if succeed, else FrameworkReturnCode::_ERROR

◆ getIdentification()

virtual FrameworkReturnCode SolAR::api::solver::map::IMapper::getIdentification ( SRef< datastructure::Identification > & identification ) const

pure virtual

Get identification component.

Parameters

[out] an identification instance

Returns: FrameworkReturnCode::SUCCESS if succeed, else FrameworkReturnCode::_ERROR

◆ getKeyframeRetriever()

virtual FrameworkReturnCode SolAR::api::solver::map::IMapper::getKeyframeRetriever ( SRef< reloc::IKeyframeRetriever > & keyframeRetriever ) const

pure virtual

Get keyframe retriever component.

Parameters

[out] a keyframe retriever instance

Returns: FrameworkReturnCode::SUCCESS if succeed, else FrameworkReturnCode::_ERROR

◆ getKeyframesManager()

virtual FrameworkReturnCode SolAR::api::solver::map::IMapper::getKeyframesManager ( SRef< storage::IKeyframesManager > & keyframesManager ) const

pure virtual

Get keyframes manager component.

Parameters

[out] a keyframes manager instance

Returns: FrameworkReturnCode::SUCCESS if succeed, else FrameworkReturnCode::_ERROR

◆ getLocalPointCloud()

virtual FrameworkReturnCode SolAR::api::solver::map::IMapper::getLocalPointCloud	(	const SRef< datastructure::Keyframe >	keyframe,
		const float	minWeightNeighbor,
		std::vector< SRef< datastructure::CloudPoint >> &	localPointCloud
	)		const

pure virtual

Get local point cloud seen from the keyframe and its neighbors.

Parameters

[in]	keyframe	the keyframe to get local point cloud
[in]	minWeightNeighbor	the weight to get keyframe neighbors
[out]	localPointCloud	the local point cloud

Returns: FrameworkReturnCode::SUCCESS if succeed, else FrameworkReturnCode::_ERROR

◆ getPointCloudManager()

virtual FrameworkReturnCode SolAR::api::solver::map::IMapper::getPointCloudManager ( SRef< storage::IPointCloudManager > & pointCloudManager ) const

pure virtual

Get point cloud component.

Parameters

[out] a point cloud instance

Returns: FrameworkReturnCode::SUCCESS if succeed, else FrameworkReturnCode::_ERROR

◆ loadFromFile()

virtual FrameworkReturnCode SolAR::api::solver::map::IMapper::loadFromFile ( )

pure virtual

Load the map from the external file.

Returns: FrameworkReturnCode::SUCCESS if the suppression succeed, else FrameworkReturnCode::_ERROR.

◆ pruning()

virtual void SolAR::api::solver::map::IMapper::pruning ( const std::vector< SRef< datastructure::CloudPoint >> & cloudPoints = {} )

pure virtual

Prune cloud points and keyframes of a map.

Parameters

[in] cloudPoints the cloud points are checked to prune

◆ removeCloudPoint()

virtual FrameworkReturnCode SolAR::api::solver::map::IMapper::removeCloudPoint ( const SRef< datastructure::CloudPoint > cloudPoint )

pure virtual

Remove a point cloud from mapper and update visibility of keyframes and covisibility graph.

Parameters

[in] cloudPoint the cloud point to remove to the mapper

Returns: FrameworkReturnCode::SUCCESS if succeed, else FrameworkReturnCode::_ERROR

◆ removeKeyframe()

virtual FrameworkReturnCode SolAR::api::solver::map::IMapper::removeKeyframe ( const SRef< datastructure::Keyframe > keyframe )

pure virtual

Remove a keyframe from mapper and update visibility of point cloud and covisibility graph.

Parameters

[in] cloudPoint the cloud point to add to the mapper

Returns: FrameworkReturnCode::SUCCESS if succeed, else FrameworkReturnCode::_ERROR

◆ saveToFile()

virtual FrameworkReturnCode SolAR::api::solver::map::IMapper::saveToFile ( ) const

pure virtual

Save the map to the external file.

Returns: FrameworkReturnCode::SUCCESS if the suppression succeed, else FrameworkReturnCode::_ERROR.

◆ set()

virtual FrameworkReturnCode SolAR::api::solver::map::IMapper::set ( const SRef< IMapper > mapper )

pure virtual

Set the mapper.

Returns: FrameworkReturnCode::SUCCESS if all data structures successfully setted, else FrameworkReturnCode::_ERROR.

◆ setCoordinateSystem()

virtual FrameworkReturnCode SolAR::api::solver::map::IMapper::setCoordinateSystem ( const SRef< datastructure::CoordinateSystem > coordinateSystem )

pure virtual

Set coordinate system component.

Parameters

[in] a coordinate system instance

Returns: FrameworkReturnCode::SUCCESS if succeed, else FrameworkReturnCode::_ERROR

◆ setCovisibilityGraph()

virtual FrameworkReturnCode SolAR::api::solver::map::IMapper::setCovisibilityGraph ( const SRef< storage::ICovisibilityGraph > covisibilityGraph )

pure virtual

Set covisibility graph component.

Parameters

[in] a covisibility graph instance

Returns: FrameworkReturnCode::SUCCESS if succeed, else FrameworkReturnCode::_ERROR

◆ setIdentification()

virtual FrameworkReturnCode SolAR::api::solver::map::IMapper::setIdentification ( const SRef< datastructure::Identification > identification )

pure virtual

Set identification component.

Parameters

[in] an identification instance

Returns: FrameworkReturnCode::SUCCESS if succeed, else FrameworkReturnCode::_ERROR

◆ setKeyframeRetriever()

virtual FrameworkReturnCode SolAR::api::solver::map::IMapper::setKeyframeRetriever ( const SRef< reloc::IKeyframeRetriever > keyframeRetriever )

pure virtual

Set keyframe retriever component.

Parameters

[in] a keyframe retriever instance

Returns: FrameworkReturnCode::SUCCESS if succeed, else FrameworkReturnCode::_ERROR

◆ setKeyframesManager()

virtual FrameworkReturnCode SolAR::api::solver::map::IMapper::setKeyframesManager ( const SRef< storage::IKeyframesManager > keyframesManager )

pure virtual

Set keyframes manager component.

Parameters

[in] a keyframes manager instance

Returns: FrameworkReturnCode::SUCCESS if succeed, else FrameworkReturnCode::_ERROR

◆ setPointCloudManager()

virtual FrameworkReturnCode SolAR::api::solver::map::IMapper::setPointCloudManager ( const SRef< storage::IPointCloudManager > pointCloudManager )

pure virtual

Set point cloud component.

Parameters

[in] a point cloud instance

Returns: FrameworkReturnCode::SUCCESS if succeed, else FrameworkReturnCode::_ERROR

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

interfaces/api/solver/map/IMapper.h

Public Member Functions

Detailed Description

Member Function Documentation

◆ addCloudPoint()

◆ get()

◆ getCoordinateSystem()

◆ getCovisibilityGraph()

◆ getIdentification()

◆ getKeyframeRetriever()

◆ getKeyframesManager()

◆ getLocalPointCloud()

◆ getPointCloudManager()

◆ loadFromFile()

◆ pruning()

◆ removeCloudPoint()

◆ removeKeyframe()

◆ saveToFile()

◆ set()

◆ setCoordinateSystem()

◆ setCovisibilityGraph()

◆ setIdentification()

◆ setKeyframeRetriever()

◆ setKeyframesManager()

◆ setPointCloudManager()