Class KeyFrameGraph¶

Defined in File KeyFrameGraph.h

Class Documentation¶

class KeyFrameGraph¶

Graph consisting of KeyFrames and constraints, performing optimization.

Public Functions

KeyFrameGraph()¶: Constructs an empty pose graph.

~KeyFrameGraph()¶: Deletes the g2o graph.

void addKeyFrame(const KeyFrame::SharedPtr &keyframe)¶: Adds a new KeyFrame to the graph.

void dropKeyFrame(const KeyFrame::SharedPtr &keyframe)¶

void dumpMap(std::string folder)¶: Adds a new Frame to the graph. Doesnt actually keep the frame, but only it’s pose-struct.

void insertConstraint(KFConstraintStruct *constraint)¶

Adds a new constraint to the graph.

The transformation must map world points such that they move as if attached to a frame which moves from firstFrame to secondFrame: second->camToWorld * first->worldToCam * point

If isOdometryConstraint is set, scaleInformation is ignored.

int size() const¶

int optimize(int num_iterations)¶: Optimizes the graph. Does not update the keyframe poses, only the vertex poses. You must call updateKeyFramePoses() afterwards.

bool addElementsFromBuffer()¶

void calculateGraphDistancesToFrame(const KeyFrame::SharedPtr &frame, std::unordered_map<KeyFrame::SharedPtr, int> &distanceMap)¶: Creates a hash map of keyframe -> distance to given frame.

Public Members

int totalPoints¶

int totalEdges¶

int totalVertices¶

std::vector<KeyFrame::SharedPtr> _keyFrames¶

boost::shared_mutex keyframesAllMutex¶

std::vector<KeyFrame::SharedPtr> keyframesAll¶

boost::shared_mutex idToKeyFrameMutex¶: Maps frame ids to keyframes. Contains ALL Keyframes allocated, including the one that currently being created.

std::unordered_map<int, KeyFrame::SharedPtr> idToKeyFrame¶

boost::shared_mutex edgesListsMutex¶

std::vector<KFConstraintStruct *> edgesAll¶

std::mutex keyframesForRetrackMutex¶

std::deque<KeyFrame::SharedPtr> keyframesForRetrack¶

std::mutex newKeyFrameMutex¶