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

#include <SolARMapper.h>

Inheritance diagram for SolAR::MODULES::TOOLS::SolARMapper:

Collaboration diagram for SolAR::MODULES::TOOLS::SolARMapper:

Public Member Functions
FrameworkReturnCode	set (const SRef< IMapper > floating_mapper) override
	Set the mapper data from floating mapper. More...

FrameworkReturnCode	get (SRef< IMapper > &mapper) override
	Get the mapper. More...

FrameworkReturnCode	setIdentification (SRef< datastructure::Identification > identification) override
	Set identification component. More...

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

FrameworkReturnCode	setCoordinateSystem (SRef< datastructure::CoordinateSystem > coordinateSystem) override
	Set coordinate system component. More...

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

FrameworkReturnCode	setPointCloudManager (const SRef< api::storage::IPointCloudManager > pointCloudManager) override
	Set point cloud component. More...

FrameworkReturnCode	getPointCloudManager (SRef< api::storage::IPointCloudManager > &pointCloudManager) const override
	Get point cloud component. More...

FrameworkReturnCode	setKeyframesManager (const SRef< api::storage::IKeyframesManager > keyframesManager) override
	Set keyframes manager component. More...

FrameworkReturnCode	getKeyframesManager (SRef< api::storage::IKeyframesManager > &keyframesManager) const override
	Get keyframes manager component. More...

FrameworkReturnCode	setCovisibilityGraph (const SRef< api::storage::ICovisibilityGraph > covisibilityGraph) override
	Set covisibility graph component. More...

FrameworkReturnCode	getCovisibilityGraph (SRef< api::storage::ICovisibilityGraph > &covisibilityGraph) const override
	Get covisibility graph component. More...

FrameworkReturnCode	setKeyframeRetriever (const SRef< api::reloc::IKeyframeRetriever > keyframeRetriever) override
	Set keyframe retriever component. More...

FrameworkReturnCode	getKeyframeRetriever (SRef< api::reloc::IKeyframeRetriever > &keyframeRetriever) const override
	Get keyframe retriever component. More...

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

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

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

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

void	pruning (const std::vector< SRef< datastructure::CloudPoint >> &cloudPoints={}) override
	Prune cloud points and 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...

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::datastructure::Identification

SolAR::datastructure::CoordinateSystem

SolAR::api::storage::IPointCloudManager

SolAR::api::storage::IKeyframesManager

SolAR::api::storage::ICovisibilityGraph

SolAR::api::reloc::IKeyframeRetriever

Properties

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

Member Function Documentation

◆ addCloudPoint()

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

override

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()

FrameworkReturnCode SolAR::MODULES::TOOLS::SolARMapper::get ( SRef< IMapper > & mapper )

override

Get the mapper.

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

◆ getCoordinateSystem()

FrameworkReturnCode SolAR::MODULES::TOOLS::SolARMapper::getCoordinateSystem ( SRef< datastructure::CoordinateSystem > & coordinateSystem ) const

override

Get coordinate system component.

Parameters

[out] a coordinate system instance

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

◆ getCovisibilityGraph()

FrameworkReturnCode SolAR::MODULES::TOOLS::SolARMapper::getCovisibilityGraph ( SRef< api::storage::ICovisibilityGraph > & covisibilityGraph ) const

override

Get covisibility graph component.

Parameters

[out] a covisibility graph instance

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

◆ getIdentification()

FrameworkReturnCode SolAR::MODULES::TOOLS::SolARMapper::getIdentification ( SRef< datastructure::Identification > & identification ) const

override

Get identification component.

Parameters

[out] an identification instance

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

◆ getKeyframeRetriever()

FrameworkReturnCode SolAR::MODULES::TOOLS::SolARMapper::getKeyframeRetriever ( SRef< api::reloc::IKeyframeRetriever > & keyframeRetriever ) const

override

Get keyframe retriever component.

Parameters

[out] a keyframe retriever instance

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

◆ getKeyframesManager()

FrameworkReturnCode SolAR::MODULES::TOOLS::SolARMapper::getKeyframesManager ( SRef< api::storage::IKeyframesManager > & keyframesManager ) const

override

Get keyframes manager component.

Parameters

[out] a keyframes manager instance

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

◆ getLocalPointCloud()

FrameworkReturnCode SolAR::MODULES::TOOLS::SolARMapper::getLocalPointCloud	(	const SRef< datastructure::Keyframe >	keyframe,
		const float	minWeightNeighbor,
		std::vector< SRef< 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

◆ getPointCloudManager()

FrameworkReturnCode SolAR::MODULES::TOOLS::SolARMapper::getPointCloudManager ( SRef< api::storage::IPointCloudManager > & pointCloudManager ) const

override

Get point cloud component.

Parameters

[out] a point cloud instance

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

◆ loadFromFile()

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

override

Load the map from the external file.

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

◆ pruning()

void SolAR::MODULES::TOOLS::SolARMapper::pruning ( const std::vector< SRef< datastructure::CloudPoint >> & cloudPoints = {} )

override

Prune cloud points and keyframes of a map.

Parameters

[in] cloudPoints the cloud points are checked to prune

◆ removeCloudPoint()

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

override

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()

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

override

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()

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

override

Save the map to the external file.

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

◆ set()

FrameworkReturnCode SolAR::MODULES::TOOLS::SolARMapper::set ( const SRef< IMapper > floating_mapper )

override

Set the mapper data from floating mapper.

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

◆ setCoordinateSystem()

FrameworkReturnCode SolAR::MODULES::TOOLS::SolARMapper::setCoordinateSystem ( SRef< datastructure::CoordinateSystem > coordinateSystem )

override

Set coordinate system component.

Parameters

[in] a coordinate system instance

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

◆ setCovisibilityGraph()

FrameworkReturnCode SolAR::MODULES::TOOLS::SolARMapper::setCovisibilityGraph ( const SRef< api::storage::ICovisibilityGraph > covisibilityGraph )

override

Set covisibility graph component.

Parameters

[in] a covisibility graph instance

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

◆ setIdentification()

FrameworkReturnCode SolAR::MODULES::TOOLS::SolARMapper::setIdentification ( SRef< datastructure::Identification > identification )

override

Set identification component.

Parameters

[in] an identification instance

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

◆ setKeyframeRetriever()

FrameworkReturnCode SolAR::MODULES::TOOLS::SolARMapper::setKeyframeRetriever ( const SRef< api::reloc::IKeyframeRetriever > keyframeRetriever )

override

Set keyframe retriever component.

Parameters

[in] a keyframe retriever instance

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

◆ setKeyframesManager()

FrameworkReturnCode SolAR::MODULES::TOOLS::SolARMapper::setKeyframesManager ( const SRef< api::storage::IKeyframesManager > keyframesManager )

override

Set keyframes manager component.

Parameters

[in] a keyframes manager instance

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

◆ setPointCloudManager()

FrameworkReturnCode SolAR::MODULES::TOOLS::SolARMapper::setPointCloudManager ( const SRef< api::storage::IPointCloudManager > pointCloudManager )

override

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:

SolARModuleTools/interfaces/SolARMapper.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()