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

#include <IMapManager.h>

Inheritance diagram for SolAR::api::storage::IMapManager:

Collaboration diagram for SolAR::api::storage::IMapManager:

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

virtual	~IMapManager ()
	IMapManager default destructor.

virtual FrameworkReturnCode	setMap (const SRef< SolAR::datastructure::Map > map)=0
	Set the map. More...

virtual FrameworkReturnCode	getMap (SRef< SolAR::datastructure::Map > &map)=0
	Get the map. More...

virtual FrameworkReturnCode	getSubmap (uint32_t idCenteredKeyframe, uint32_t nbKeyframes, SRef< SolAR::datastructure::Map > &submap)=0
	Get the submap around a centered keyframe. More...

virtual FrameworkReturnCode	getLocalPointCloud (const std::vector< SRef< SolAR::datastructure::Keyframe > > &keyframes, std::vector< SRef< SolAR::datastructure::CloudPoint > > &localPointCloud) const =0
	Get local point cloud seen from the keyframes. More...

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

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

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

virtual FrameworkReturnCode	addKeyframe (const SRef< SolAR::datastructure::Keyframe > keyframe)=0
	Add a keyframe to map manager. More...

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

virtual int	pointCloudPruning (const std::vector< SRef< SolAR::datastructure::CloudPoint > > &cloudPoints={})=0
	Prune cloud points of a map. More...

virtual int	keyframePruning (const std::vector< SRef< SolAR::datastructure::Keyframe > > &keyframes={})=0
	Prune 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...

virtual FrameworkReturnCode	deleteFile ()=0
	Delete the map in 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::storage::IMapManager::addCloudPoint ( const SRef< SolAR::datastructure::CloudPoint > cloudPoint )

pure virtual

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

Parameters

[in] cloudPoint the cloud point to add to the map manager

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

◆ addKeyframe()

virtual FrameworkReturnCode SolAR::api::storage::IMapManager::addKeyframe ( const SRef< SolAR::datastructure::Keyframe > keyframe )

pure virtual

Add a keyframe to map manager.

Parameters

[in] keyframe the keyframe to add to the map manager

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

◆ deleteFile()

virtual FrameworkReturnCode SolAR::api::storage::IMapManager::deleteFile ( )

pure virtual

Delete the map in external file.

Returns: FrameworkReturnCode::SUCCESS if the deletion succeeds, else FrameworkReturnCode::_ERROR.

◆ getLocalPointCloud() [1/2]

virtual FrameworkReturnCode SolAR::api::storage::IMapManager::getLocalPointCloud	(	const SRef< SolAR::datastructure::Keyframe >	keyframe,
		const float	minWeightNeighbor,
		std::vector< SRef< SolAR::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

◆ getLocalPointCloud() [2/2]

virtual FrameworkReturnCode SolAR::api::storage::IMapManager::getLocalPointCloud	(	const std::vector< SRef< SolAR::datastructure::Keyframe > > &	keyframes,
		std::vector< SRef< SolAR::datastructure::CloudPoint > > &	localPointCloud
	)		const

pure virtual

Get local point cloud seen from the keyframes.

Parameters

[in]	keyframes	the keyframes to get local point cloud
[out]	localPointCloud	the local point cloud seen by the keyframes

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

◆ getMap()

virtual FrameworkReturnCode SolAR::api::storage::IMapManager::getMap ( SRef< SolAR::datastructure::Map > & map )

pure virtual

Get the map.

Parameters

[out] map the data of map

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

◆ getSubmap()

virtual FrameworkReturnCode SolAR::api::storage::IMapManager::getSubmap	(	uint32_t	idCenteredKeyframe,
		uint32_t	nbKeyframes,
		SRef< SolAR::datastructure::Map > &	submap
	)

pure virtual

Get the submap around a centered keyframe.

Parameters

[in]	idCenteredKeyframe	the id of the centered keyframe
[in]	nbKeyframes	the maximum number of keyframes of the submap
[out]	submap	the submap

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

◆ keyframePruning()

virtual int SolAR::api::storage::IMapManager::keyframePruning ( const std::vector< SRef< SolAR::datastructure::Keyframe > > & keyframes = {} )

pure virtual

Prune keyframes of a map.

Parameters

[in] keyframes the keyframes are checked to prune

◆ loadFromFile()

virtual FrameworkReturnCode SolAR::api::storage::IMapManager::loadFromFile ( )

pure virtual

Load the map from the external file.

Returns: FrameworkReturnCode::SUCCESS if the loading succeeds, else FrameworkReturnCode::_ERROR.

◆ pointCloudPruning()

virtual int SolAR::api::storage::IMapManager::pointCloudPruning ( const std::vector< SRef< SolAR::datastructure::CloudPoint > > & cloudPoints = {} )

pure virtual

Prune cloud points of a map.

Parameters

[in] cloudPoints the cloud points are checked to prune

◆ removeCloudPoint()

virtual FrameworkReturnCode SolAR::api::storage::IMapManager::removeCloudPoint ( const SRef< SolAR::datastructure::CloudPoint > cloudPoint )

pure virtual

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

Parameters

[in] cloudPoint the cloud point to remove to the map manager

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

◆ removeKeyframe()

virtual FrameworkReturnCode SolAR::api::storage::IMapManager::removeKeyframe ( const SRef< SolAR::datastructure::Keyframe > keyframe )

pure virtual

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

Parameters

[in] keyframe the keyframe to remove from the map manager

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

◆ saveToFile()

virtual FrameworkReturnCode SolAR::api::storage::IMapManager::saveToFile ( ) const

pure virtual

Save the map to the external file.

Returns: FrameworkReturnCode::SUCCESS if the backup succeeds, else FrameworkReturnCode::_ERROR.

◆ setMap()

virtual FrameworkReturnCode SolAR::api::storage::IMapManager::setMap ( const SRef< SolAR::datastructure::Map > map )

pure virtual

Set the map.

Parameters

[in] map the data of map

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

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

interfaces/api/storage/IMapManager.h

Public Member Functions

Detailed Description

Member Function Documentation

◆ addCloudPoint()

◆ addKeyframe()

◆ deleteFile()

◆ getLocalPointCloud() [1/2]

◆ getLocalPointCloud() [2/2]

◆ getMap()

◆ getSubmap()

◆ keyframePruning()

◆ loadFromFile()

◆ pointCloudPruning()

◆ removeCloudPoint()

◆ removeKeyframe()

◆ saveToFile()

◆ setMap()