Class SlamSystem

• Defined in File SlamSystem.h

Nested Relationships

Nested Types

• Struct SlamSystem::PerformanceData

Class Documentation

class SlamSystem

Public Functions

SlamSystem()

SlamSystem(const SlamSystem&)

SlamSystem &operator=(const SlamSystem&)

~SlamSystem()

SlamSystem *fullReset()

void nextImage(unsigned int id, const cv::Mat &img, const libvideoio::Camera &cam)

void nextImageSet(const std::shared_ptr<ImageSet> &set)

void finalize()

ThreadSynchronizer &finalized()

std::shared_ptr<KeyFrame> &currentKeyFrame()

std::vector<FramePoseStruct::SharedPtr> getAllPoses()

void addOutputWrapper(const shared_ptr<OutputIOWrapper> &outputWrapper)

void publishPose(const Sophus::Sim3f &pose)

void publishTrackedFrame(const Frame::SharedPtr &frame)

void publishKeyframeGraph(void)

void publishKeyframe(const Frame::SharedPtr &frame)

void publishCurrentKeyframe()

void publishDepthImage(unsigned char *data)

void updateDisplayDepthMap()

const shared_ptr<KeyFrameGraph> &keyFrameGraph()

shared_ptr<TrackableKeyFrameSearch> &trackableKeyFrameSearch()

unique_ptr<MappingThread> &mapThread()

unique_ptr<TrackingThread> &trackingThread()

unique_ptr<OptimizationThread> &optThread()

unique_ptr<ConstraintSearchThread> &constraintThread()

Public Members

boost::shared_mutex poseConsistencyMutex