Allow to manage all components of a map. UUID: 8e3c926a-0861-46f7-80b2-8abb5576692c More...

#include <SolARMapManager.h>

Inheritance diagram for SolAR::MODULES::TOOLS::SolARMapManager:

Collaboration diagram for SolAR::MODULES::TOOLS::SolARMapManager:

Public Member Functions
FrameworkReturnCode	setMap (const SRef< SolAR::datastructure::Map > map) override
	Set the map. More...

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

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

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

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

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

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

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

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

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

int	keyframePruning (const std::vector< SRef< SolAR::datastructure::Keyframe > > &keyframes={}) override
	Prune keyframes of a map. More...

FrameworkReturnCode	saveToFile () const override
	Save the map to the external file. More...

FrameworkReturnCode	loadFromFile () override
	Load the map from the external file. More...

FrameworkReturnCode	deleteFile () override
	Delete the map in external file. More...

org::bcom::xpcf::XPCFErrorCode	onConfigured () override final

void	unloadComponent () override final

Detailed Description

Allow to manage all components of a map. UUID: 8e3c926a-0861-46f7-80b2-8abb5576692c

Store all components of a map.

Injectables

SolAR::api::storage::IPointCloudManager

SolAR::api::storage::IKeyframesManager

SolAR::api::storage::ICovisibilityGraph

SolAR::api::reloc::IKeyframeRetriever

Properties

directory
	type: string; default: ""
identificationFileName
	type: string; default: ""
coordinateFileName
	type: string; default: ""
pointCloudManagerFileName
	type: string; default: ""
keyframesManagerFileName
	type: string; default: ""
covisibilityGraphFileName
	type: string; default: ""
keyframeRetrieverFileName
	type: string; default: ""
reprojErrorThreshold
	type: float; range : [0..MAX FLOAT]; default: 3.f
thresConfidence
	type: float; range : [0..MAX FLOAT]; default: 3.f

Member Function Documentation

◆ addCloudPoint()

FrameworkReturnCode SolAR::MODULES::TOOLS::SolARMapManager::addCloudPoint ( const SRef< SolAR::datastructure::CloudPoint > cloudPoint )

override

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()

FrameworkReturnCode SolAR::MODULES::TOOLS::SolARMapManager::addKeyframe ( const SRef< SolAR::datastructure::Keyframe > keyframe )

override

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()

FrameworkReturnCode SolAR::MODULES::TOOLS::SolARMapManager::deleteFile ( )

override

Delete the map in external file.

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

◆ getLocalPointCloud() [1/2]

FrameworkReturnCode SolAR::MODULES::TOOLS::SolARMapManager::getLocalPointCloud	(	const SRef< SolAR::datastructure::Keyframe >	keyframe,
		const float	minWeightNeighbor,
		std::vector< SRef< SolAR::datastructure::CloudPoint > > &	localPointCloud
	)		const

override

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]

FrameworkReturnCode SolAR::MODULES::TOOLS::SolARMapManager::getLocalPointCloud	(	const std::vector< SRef< SolAR::datastructure::Keyframe > > &	keyframes,
		std::vector< SRef< SolAR::datastructure::CloudPoint > > &	localPointCloud
	)		const

override

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()

FrameworkReturnCode SolAR::MODULES::TOOLS::SolARMapManager::getMap ( SRef< SolAR::datastructure::Map > & map )

override

Get the map.

Parameters

[out] map the data of map

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

◆ getSubmap()

FrameworkReturnCode SolAR::MODULES::TOOLS::SolARMapManager::getSubmap	(	uint32_t	idCenteredKeyframe,
		uint32_t	nbKeyframes,
		SRef< SolAR::datastructure::Map > &	submap
	)

override

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()

int SolAR::MODULES::TOOLS::SolARMapManager::keyframePruning ( const std::vector< SRef< SolAR::datastructure::Keyframe > > & keyframes = {} )

override

Prune keyframes of a map.

Parameters

[in] keyframes the keyframes are checked to prune

◆ loadFromFile()

FrameworkReturnCode SolAR::MODULES::TOOLS::SolARMapManager::loadFromFile ( )

override

Load the map from the external file.

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

◆ pointCloudPruning()

int SolAR::MODULES::TOOLS::SolARMapManager::pointCloudPruning ( const std::vector< SRef< SolAR::datastructure::CloudPoint > > & cloudPoints = {} )

override

Prune cloud points of a map.

Parameters

[in] cloudPoints the cloud points are checked to prune

◆ removeCloudPoint()

FrameworkReturnCode SolAR::MODULES::TOOLS::SolARMapManager::removeCloudPoint ( const SRef< SolAR::datastructure::CloudPoint > cloudPoint )

override

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()

FrameworkReturnCode SolAR::MODULES::TOOLS::SolARMapManager::removeKeyframe ( const SRef< SolAR::datastructure::Keyframe > keyframe )

override

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()

FrameworkReturnCode SolAR::MODULES::TOOLS::SolARMapManager::saveToFile ( ) const

override

Save the map to the external file.

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

◆ setMap()

FrameworkReturnCode SolAR::MODULES::TOOLS::SolARMapManager::setMap ( const SRef< SolAR::datastructure::Map > map )

override

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:

SolARModuleTools/interfaces/SolARMapManager.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()