#include <sparse_map.h>

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	SparseMap (const std::vector< std::string > &filenames, const std::string &detector, const camera::CameraParameters &params)

	SparseMap (const std::string &protobuf_file, bool localization=false)

	SparseMap (const std::vector< Eigen::Affine3d > &cid_to_cam_t, const std::vector< std::string > &filenames, const std::string &detector, const camera::CameraParameters &params)

	SparseMap (bool bundler_format, std::string const &filename, std::vector< std::string > const &files)

void	SetDefaultLocParams ()

void	SetLocParams (const LocalizationParameters &loc_params)

const LocalizationParameters &	loc_params () const

LocalizationParameters &	loc_params ()

void	SetDetectorParams (int min_features, int max_features, int retries, double min_thresh, double default_thresh, double max_thresh, double too_many_ratio, double too_few_ratio)

void	DetectFeatures ()

void	Save (const std::string &protobuf_file) const

bool	Localize (std::string const &img_file, camera::CameraModel pose, std::vector< Eigen::Vector3d > inlier_landmarks=NULL, std::vector< Eigen::Vector2d > inlier_observations=NULL, std::vector< int > cid_list=NULL)

bool	Localize (const cv::Mat &image, camera::CameraModel pose, std::vector< Eigen::Vector3d > inlier_landmarks=NULL, std::vector< Eigen::Vector2d > inlier_observations=NULL, std::vector< int > cid_list=NULL)

bool	Localize (cv::Mat const &test_descriptors, Eigen::Matrix2Xd const &test_keypoints, camera::CameraModel pose, std::vector< Eigen::Vector3d > inlier_landmarks, std::vector< Eigen::Vector2d > inlier_observations, std::vector< int > cid_list=NULL, const cv::Mat &image=cv::Mat())

size_t	GetNumFrames (void) const

const std::string &	GetFrameFilename (int frame) const

const Eigen::Affine3d &	GetFrameGlobalTransform (int frame) const

void	SetFrameGlobalTransform (int frame, const Eigen::Affine3d &transform)

const Eigen::Matrix2Xd &	GetFrameKeypoints (int frame) const

cv::Mat	GetDescriptor (int frame, int fid) const

const std::map< int, int > &	GetFrameFidToPidMap (int frame) const

size_t	GetNumLandmarks (void) const

Eigen::Vector3d	GetLandmarkPosition (int landmark) const

const std::map< int, int > &	GetLandmarkCidToFidMap (int landmark) const

camera::CameraParameters	GetCameraParameters (void) const

void	SetCameraParameters (camera::CameraParameters camera_params)

size_t	GetNumObservations (void) const

Eigen::Affine3d	GetWorldTransform () const

void	ApplyTransform (Eigen::Affine3d const &T)

void	Load (const std::string &protobuf_file, bool localization=false)

void	LoadKeypoints (const std::string &protobuf_file)

void	InitializeCidFidToPid ()

void	DetectFeaturesFromFile (std::string const &filename, bool multithreaded, cv::Mat descriptors, Eigen::Matrix2Xd keypoints)

void	DetectFeatures (cv::Mat const &image, bool multithreaded, cv::Mat descriptors, Eigen::Matrix2Xd keypoints)

void	PruneMap (void)

std::string	GetDetectorName ()

interest_point::FeatureDetector &	detector ()

int	GetHistogramEqualization ()

Public Attributes
std::vector< std::string >	cid_to_filename_

std::vector< Eigen::Matrix2Xd >	cid_to_keypoint_map_

std::vector< std::map< int, int > >	pid_to_cid_fid_

std::vector< Eigen::Vector3d >	pid_to_xyz_

std::vector< Eigen::Affine3d >	cid_to_cam_t_global_

std::vector< cv::Mat >	cid_to_descriptor_map_

std::vector< std::map< int, int > >	cid_fid_to_pid_

std::vector< std::map< int, int > >	cid_to_matching_cid_counts_

interest_point::FeatureDetector	detector_

camera::CameraParameters	camera_params_

sparse_mapping::VocabDB	vocab_db_

LocalizationParameters	loc_params_

std::string	protobuf_file_

std::map< int, int >	db_to_cid_map_

std::map< int, std::set< int > >	cid_to_cid_

Eigen::Affine3d	world_transform_

std::vector< Eigen::Matrix2Xd >	user_cid_to_keypoint_map_

std::vector< std::map< int, int > >	user_pid_to_cid_fid_

std::vector< Eigen::Vector3d >	user_pid_to_xyz_

cv::Ptr< cv::CLAHE >	clahe_

boost::optional< int >	best_previous_cid_

std::mutex	mutex_detector_

Detailed Description

A class representing a sparse map, which consists of a collection of keyframes and detected features. To localize, an image's features are matched to the keyframes in the map. They keyframe features have known positions and the camera pose can be estimated with ransac.

Constructor & Destructor Documentation

◆ SparseMap() [1/4]

sparse_mapping::SparseMap::SparseMap	(	const std::vector< std::string > &	filenames,
		const std::string &	detector,
		const camera::CameraParameters &	params
	)

Constructs a new sparse map from a list of image files and their associate keypoint and descriptor files. If use_cached_features is set to false, it reads the image files and performs feature detection instead. Does not perform bundle adjustment.

◆ SparseMap() [2/4]

sparse_mapping::SparseMap::SparseMap	(	const std::string &	protobuf_file,
		bool	localization = `false`
	)

Constructs a new sparse map from a protobuf file, with specified vocabulary tree and optional parameters.

◆ SparseMap() [3/4]

sparse_mapping::SparseMap::SparseMap	(	const std::vector< Eigen::Affine3d > &	cid_to_cam_t,
		const std::vector< std::string > &	filenames,
		const std::string &	detector,
		const camera::CameraParameters &	params
	)

Form a sparse map with given cameras/images, and no features

◆ SparseMap() [4/4]

sparse_mapping::SparseMap::SparseMap	(	bool	bundler_format,
		std::string const &	filename,
		std::vector< std::string > const &	files
	)

Member Function Documentation

◆ ApplyTransform()

void sparse_mapping::SparseMap::ApplyTransform ( Eigen::Affine3d const & T )

inline

Apply given transform to camera positions and 3D points

◆ DetectFeatures() [1/2]

void sparse_mapping::SparseMap::DetectFeatures ( )

Detect features in given images

◆ DetectFeatures() [2/2]

void sparse_mapping::SparseMap::DetectFeatures	(	cv::Mat const &	image,
		bool	multithreaded,
		cv::Mat *	descriptors,
		Eigen::Matrix2Xd *	keypoints
	)

◆ DetectFeaturesFromFile()

void sparse_mapping::SparseMap::DetectFeaturesFromFile	(	std::string const &	filename,
		bool	multithreaded,
		cv::Mat *	descriptors,
		Eigen::Matrix2Xd *	keypoints
	)

◆ detector()

interest_point::FeatureDetector& sparse_mapping::SparseMap::detector ( )

inline

◆ GetCameraParameters()

camera::CameraParameters sparse_mapping::SparseMap::GetCameraParameters ( void ) const

inline

Return the parameters of the camera used to construct the map.

◆ GetDescriptor()

cv::Mat sparse_mapping::SparseMap::GetDescriptor	(	int	frame,
		int	fid
	)		const

inline

Get the descriptor for a frame and feature.

◆ GetDetectorName()

std::string sparse_mapping::SparseMap::GetDetectorName ( )

inline

◆ GetFrameFidToPidMap()

const std::map<int, int>& sparse_mapping::SparseMap::GetFrameFidToPidMap ( int frame ) const

inline

Returns map of feature ids to landmark ids for the specified frame.

◆ GetFrameFilename()

const std::string& sparse_mapping::SparseMap::GetFrameFilename ( int frame ) const

inline

Get the filename of a keyframe in the map.

◆ GetFrameGlobalTransform()

const Eigen::Affine3d& sparse_mapping::SparseMap::GetFrameGlobalTransform ( int frame ) const

inline

Get the global camera transform for a keyframe in the map.

◆ GetFrameKeypoints()

const Eigen::Matrix2Xd& sparse_mapping::SparseMap::GetFrameKeypoints ( int frame ) const

inline

Get the keypoint coordinates in the specified frame.

◆ GetHistogramEqualization()

int sparse_mapping::SparseMap::GetHistogramEqualization ( )

inline

◆ GetLandmarkCidToFidMap()

const std::map<int, int>& sparse_mapping::SparseMap::GetLandmarkCidToFidMap ( int landmark ) const

inline

Return a map for a specified landmark, matching the ids of all the keyframes that landmark was seen in to the feature id within that frame.

◆ GetLandmarkPosition()

Eigen::Vector3d sparse_mapping::SparseMap::GetLandmarkPosition ( int landmark ) const

inline

Get the global position of the specified landmark.

◆ GetNumFrames()

size_t sparse_mapping::SparseMap::GetNumFrames ( void ) const

inline

Get the number of keyframes in the map.

◆ GetNumLandmarks()

size_t sparse_mapping::SparseMap::GetNumLandmarks ( void ) const

inline

Get the number of landmark points in the map.

◆ GetNumObservations()

size_t sparse_mapping::SparseMap::GetNumObservations ( void ) const

inline

Return the number of observations. Use this number to divide the final error to find the average pixel error.

◆ GetWorldTransform()

Eigen::Affine3d sparse_mapping::SparseMap::GetWorldTransform ( ) const

inline

Return the transform to real world coordinates.

◆ InitializeCidFidToPid()

void sparse_mapping::SparseMap::InitializeCidFidToPid ( )

◆ Load()

void sparse_mapping::SparseMap::Load	(	const std::string &	protobuf_file,
		bool	localization = `false`
	)

◆ LoadKeypoints()

void sparse_mapping::SparseMap::LoadKeypoints ( const std::string & protobuf_file )

◆ loc_params() [1/2]

LocalizationParameters& sparse_mapping::SparseMap::loc_params ( )

inline

◆ loc_params() [2/2]

const LocalizationParameters& sparse_mapping::SparseMap::loc_params ( ) const

inline

◆ Localize() [1/3]

bool sparse_mapping::SparseMap::Localize	(	const cv::Mat &	image,
		camera::CameraModel *	pose,
		std::vector< Eigen::Vector3d > *	inlier_landmarks = `NULL`,
		std::vector< Eigen::Vector2d > *	inlier_observations = `NULL`,
		std::vector< int > *	cid_list = `NULL`
	)

◆ Localize() [2/3]

bool sparse_mapping::SparseMap::Localize	(	cv::Mat const &	test_descriptors,
		Eigen::Matrix2Xd const &	test_keypoints,
		camera::CameraModel *	pose,
		std::vector< Eigen::Vector3d > *	inlier_landmarks,
		std::vector< Eigen::Vector2d > *	inlier_observations,
		std::vector< int > *	cid_list = `NULL`,
		const cv::Mat &	image = `cv::Mat()`
	)

◆ Localize() [3/3]

bool sparse_mapping::SparseMap::Localize	(	std::string const &	img_file,
		camera::CameraModel *	pose,
		std::vector< Eigen::Vector3d > *	inlier_landmarks = `NULL`,
		std::vector< Eigen::Vector2d > *	inlier_observations = `NULL`,
		std::vector< int > *	cid_list = `NULL`
	)

Estimate the camera pose for an image file.

◆ PruneMap()

void sparse_mapping::SparseMap::PruneMap ( void )

◆ Save()

void sparse_mapping::SparseMap::Save ( const std::string & protobuf_file ) const

Save the map to a protobuf file.

◆ SetCameraParameters()

void sparse_mapping::SparseMap::SetCameraParameters ( camera::CameraParameters camera_params )

inline

◆ SetDefaultLocParams()

void sparse_mapping::SparseMap::SetDefaultLocParams ( )

◆ SetDetectorParams()

void sparse_mapping::SparseMap::SetDetectorParams	(	int	min_features,
		int	max_features,
		int	retries,
		double	min_thresh,
		double	default_thresh,
		double	max_thresh,
		double	too_many_ratio,
		double	too_few_ratio
	)

◆ SetFrameGlobalTransform()

void sparse_mapping::SparseMap::SetFrameGlobalTransform	(	int	frame,
		const Eigen::Affine3d &	transform
	)

inline

◆ SetLocParams()

void sparse_mapping::SparseMap::SetLocParams ( const LocalizationParameters & loc_params )

Member Data Documentation

◆ best_previous_cid_

boost::optional<int> sparse_mapping::SparseMap::best_previous_cid_

◆ camera_params_

camera::CameraParameters sparse_mapping::SparseMap::camera_params_

◆ cid_fid_to_pid_

std::vector<std::map<int, int> > sparse_mapping::SparseMap::cid_fid_to_pid_

◆ cid_to_cam_t_global_

std::vector<Eigen::Affine3d > sparse_mapping::SparseMap::cid_to_cam_t_global_

◆ cid_to_cid_

std::map< int, std::set<int> > sparse_mapping::SparseMap::cid_to_cid_

◆ cid_to_descriptor_map_

std::vector<cv::Mat> sparse_mapping::SparseMap::cid_to_descriptor_map_

◆ cid_to_filename_

std::vector<std::string> sparse_mapping::SparseMap::cid_to_filename_

◆ cid_to_keypoint_map_

std::vector<Eigen::Matrix2Xd > sparse_mapping::SparseMap::cid_to_keypoint_map_

◆ cid_to_matching_cid_counts_

std::vector<std::map<int, int> > sparse_mapping::SparseMap::cid_to_matching_cid_counts_

◆ clahe_

cv::Ptr<cv::CLAHE> sparse_mapping::SparseMap::clahe_

◆ db_to_cid_map_

std::map<int, int> sparse_mapping::SparseMap::db_to_cid_map_

◆ detector_

interest_point::FeatureDetector sparse_mapping::SparseMap::detector_

◆ loc_params_

LocalizationParameters sparse_mapping::SparseMap::loc_params_

◆ mutex_detector_

std::mutex sparse_mapping::SparseMap::mutex_detector_

◆ pid_to_cid_fid_

std::vector<std::map<int, int> > sparse_mapping::SparseMap::pid_to_cid_fid_

◆ pid_to_xyz_

std::vector<Eigen::Vector3d> sparse_mapping::SparseMap::pid_to_xyz_

◆ protobuf_file_

std::string sparse_mapping::SparseMap::protobuf_file_

◆ user_cid_to_keypoint_map_

std::vector<Eigen::Matrix2Xd> sparse_mapping::SparseMap::user_cid_to_keypoint_map_

◆ user_pid_to_cid_fid_

std::vector<std::map<int, int> > sparse_mapping::SparseMap::user_pid_to_cid_fid_

◆ user_pid_to_xyz_

std::vector<Eigen::Vector3d> sparse_mapping::SparseMap::user_pid_to_xyz_

◆ vocab_db_

sparse_mapping::VocabDB sparse_mapping::SparseMap::vocab_db_

mutable

◆ world_transform_

Eigen::Affine3d sparse_mapping::SparseMap::world_transform_

The documentation for this struct was generated from the following files:

localization/sparse_mapping/include/sparse_mapping/sparse_map.h
localization/sparse_mapping/src/sparse_map.cc

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ SparseMap() [1/4]

◆ SparseMap() [2/4]

◆ SparseMap() [3/4]

◆ SparseMap() [4/4]

Member Function Documentation

◆ ApplyTransform()

◆ DetectFeatures() [1/2]

◆ DetectFeatures() [2/2]

◆ DetectFeaturesFromFile()

◆ detector()

◆ GetCameraParameters()

◆ GetDescriptor()

◆ GetDetectorName()

◆ GetFrameFidToPidMap()

◆ GetFrameFilename()

◆ GetFrameGlobalTransform()

◆ GetFrameKeypoints()

◆ GetHistogramEqualization()

◆ GetLandmarkCidToFidMap()

◆ GetLandmarkPosition()

◆ GetNumFrames()

◆ GetNumLandmarks()

◆ GetNumObservations()

◆ GetWorldTransform()

◆ InitializeCidFidToPid()

◆ Load()

◆ LoadKeypoints()

◆ loc_params() [1/2]

◆ loc_params() [2/2]

◆ Localize() [1/3]

◆ Localize() [2/3]

◆ Localize() [3/3]

◆ PruneMap()

◆ Save()

◆ SetCameraParameters()

◆ SetDefaultLocParams()

◆ SetDetectorParams()

◆ SetFrameGlobalTransform()

◆ SetLocParams()

Member Data Documentation

◆ best_previous_cid_

◆ camera_params_

◆ cid_fid_to_pid_

◆ cid_to_cam_t_global_

◆ cid_to_cid_

◆ cid_to_descriptor_map_

◆ cid_to_filename_

◆ cid_to_keypoint_map_

◆ cid_to_matching_cid_counts_

◆ clahe_

◆ db_to_cid_map_

◆ detector_

◆ loc_params_

◆ mutex_detector_

◆ pid_to_cid_fid_

◆ pid_to_xyz_

◆ protobuf_file_

◆ user_cid_to_keypoint_map_

◆ user_pid_to_cid_fid_

◆ user_pid_to_xyz_

◆ vocab_db_

◆ world_transform_