Ocean::Tracking::MapBuilding::Relocalizer Class Reference

This class base class for all relocalizers. More...

#include <Relocalizer.h>

Inheritance diagram for Ocean::Tracking::MapBuilding::Relocalizer:

Public Types
using	ImageFeaturePointDetectorFunction = std::function< bool(const AnyCamera &camera, const Frame &yFrame, Vectors2 &imagePoints, SharedUnifiedDescriptors &imagePointDescriptors)>
	Definition of a function which detects and describes feature points in a given image.

Public Member Functions
virtual	~Relocalizer ()=default
	Destructs this relocalizer.
virtual bool	setImageFeaturePointDetectorFunction (ImageFeaturePointDetectorFunction imageFeaturePointDetectorFunction)
	Sets or updates the function to detect and describe feature points in an image.
virtual bool	setFeatureMap (SharedUnifiedFeatureMap featureMap)
	Sets or updates the feature map to be used for relocalization.
const Vectors3 &	objectPoints () const
	Returns the object points of this relocalizer.
const Indices32 &	objectPointIds () const
	Returns the ids of the object points of this relocalizer.
virtual bool	isValid () const
	Returns whether this relocalizer holds a valid map.

Static Public Member Functions
static bool	detectFreakFeatures (const AnyCamera &camera, const Frame &yFrame, Vectors2 &imagePoints, SharedUnifiedDescriptors &imagePointDescriptors)
	Helper function allowing to detect and to describe multi-level FREAK features with 32 bytes per descriptor in an image.

Protected Member Functions
	Relocalizer ()=default
	Default constructor.
	Relocalizer (ImageFeaturePointDetectorFunction imageFeaturePointDetectorFunction)
	Creates a new relocalizer object.
Relocalizer &	operator= (Relocalizer &&relocalizer)
	Move operator.

Protected Attributes
ImageFeaturePointDetectorFunction	imageFeaturePointDetectorFunction_
	The function which detects and describes feature points in a given image.
SharedUnifiedFeatureMap	featureMap_
	The feature map to be used when relocalizing.
RandomGenerator	randomGenerator_
	The random generator object to be used.
Lock	lock_
	The relocalizer's lock.

Detailed Description

This class base class for all relocalizers.

Member Typedef Documentation

ImageFeaturePointDetectorFunction

using Ocean::Tracking::MapBuilding::Relocalizer::ImageFeaturePointDetectorFunction = std::function<bool(const AnyCamera& camera, const Frame& yFrame, Vectors2& imagePoints, SharedUnifiedDescriptors& imagePointDescriptors)>

Definition of a function which detects and describes feature points in a given image.

Parameters

camera	The camera profile associated with the image
yFrame	The image in which the feature will be detected, with pixel format FORMAT_Y8
imagePoints	The resulting image points within the pixel domain
imagePointDescriptors	The resulting descriptors, one for each resulting image point

Returns

True, if succeeded

Constructor & Destructor Documentation

~Relocalizer()

virtual Ocean::Tracking::MapBuilding::Relocalizer::~Relocalizer ( )

virtualdefault

Destructs this relocalizer.

Relocalizer() [1/2]

Ocean::Tracking::MapBuilding::Relocalizer::Relocalizer ( )

protecteddefault

Default constructor.

Relocalizer() [2/2]

Ocean::Tracking::MapBuilding::Relocalizer::Relocalizer ( ImageFeaturePointDetectorFunction  imageFeaturePointDetectorFunction )

explicitprotected

Creates a new relocalizer object.

Parameters

imageFeaturePointDetectorFunction

The feature detection and description function to be used

Member Function Documentation

detectFreakFeatures()

static bool Ocean::Tracking::MapBuilding::Relocalizer::detectFreakFeatures ( const AnyCamera &  camera, const Frame &  yFrame, Vectors2 &  imagePoints, SharedUnifiedDescriptors &  imagePointDescriptors  )

static

Helper function allowing to detect and to describe multi-level FREAK features with 32 bytes per descriptor in an image.

Parameters

camera	The camera profile to be used, must be valid
yFrame	The image in which the feature will be detected and described, with pixel format FORMAT_Y8, must be valid
imagePoints	The resulting image points of all detected features
imagePointDescriptors	The resulting descriptors, one for each resulting image point

Returns

True, if succeeded

isValid()

virtual bool Ocean::Tracking::MapBuilding::Relocalizer::isValid ( ) const

virtual

Returns whether this relocalizer holds a valid map.

Returns

True, if so

objectPointIds()

const Indices32 & Ocean::Tracking::MapBuilding::Relocalizer::objectPointIds ( ) const

inline

Returns the ids of the object points of this relocalizer.

This function is not thread-safe.

Returns

The relocalizer's object point ids

objectPoints()

const Vectors3 & Ocean::Tracking::MapBuilding::Relocalizer::objectPoints ( ) const

inline

Returns the object points of this relocalizer.

This function is not thread-safe.

Returns

The relocalizer's 3D object points

operator=()

Relocalizer & Ocean::Tracking::MapBuilding::Relocalizer::operator= ( Relocalizer &&  relocalizer )

protected

Move operator.

Parameters

relocalizer

The relocalizer to be moved

Returns

Reference to this object

setFeatureMap()

virtual bool Ocean::Tracking::MapBuilding::Relocalizer::setFeatureMap ( SharedUnifiedFeatureMap  featureMap )

virtual

Sets or updates the feature map to be used for relocalization.

Parameters

featureMap

The feature map to be set, must be valid

Returns

True, if succeeded

Reimplemented in Ocean::Tracking::MapBuilding::TrackerMono, and Ocean::Tracking::MapBuilding::TrackerStereo.

setImageFeaturePointDetectorFunction()

virtual bool Ocean::Tracking::MapBuilding::Relocalizer::setImageFeaturePointDetectorFunction ( ImageFeaturePointDetectorFunction  imageFeaturePointDetectorFunction )

virtual

Sets or updates the function to detect and describe feature points in an image.

Parameters

imageFeaturePointDetectorFunction

The function to be used

Returns

True, if succeeded

Field Documentation

featureMap_

SharedUnifiedFeatureMap Ocean::Tracking::MapBuilding::Relocalizer::featureMap_

protected

The feature map to be used when relocalizing.

imageFeaturePointDetectorFunction_

ImageFeaturePointDetectorFunction Ocean::Tracking::MapBuilding::Relocalizer::imageFeaturePointDetectorFunction_

protected

The function which detects and describes feature points in a given image.

lock_

Lock Ocean::Tracking::MapBuilding::Relocalizer::lock_

mutableprotected

The relocalizer's lock.

randomGenerator_

RandomGenerator Ocean::Tracking::MapBuilding::Relocalizer::randomGenerator_

protected

The random generator object to be used.

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The documentation for this class was generated from the following file:

• Relocalizer.h