Ocean SLAM Tracking Library

The Ocean SLAM Tracking Library provides a monocular visual SLAM implementation for real-time camera tracking and 3D environment reconstruction, optimized for mobile AR/VR applications. More...

Collaboration diagram for Ocean SLAM Tracking Library:

Data Structures
class	Ocean::Tracking::SLAM::BackgroundTask
	This class implements a task which runs in the background while the caller is able to wait for the task to be finished. More...
class	Ocean::Tracking::SLAM::CameraPose
	This class holds the camera pose of a camera in relation to the world. More...
class	Ocean::Tracking::SLAM::CameraPoses
	This class implements a container for camera poses. More...
class	Ocean::Tracking::SLAM::FramePyramidManager
	This class manages a pool of frame pyramids for efficient reuse. More...
class	Ocean::Tracking::SLAM::Gravities
	This class implements a container for gravity vectors associated with frame indices. More...
class	Ocean::Tracking::SLAM::LocalizedObjectPoint
	This class implements a localized 3D object point. More...
class	Ocean::Tracking::SLAM::LockManager
	This class implements a singleton manager for collecting and reporting lock timing measurements. More...
class	Ocean::Tracking::SLAM::LockTimer< tEnable >
	This class implements a helper for timing lock acquisition and hold durations. More...
class	Ocean::Tracking::SLAM::LockTimer< false >
	Specialization of LockTimer for disabled timing. More...
class	Ocean::Tracking::SLAM::ReadLock
	This class implements a scoped read lock for a shared mutex. More...
class	Ocean::Tracking::SLAM::WriteLock
	This class implements a scoped write lock for a shared mutex. More...
class	Ocean::Tracking::SLAM::Observation
	This class implements an observation of a 3D feature point in a camera frame. More...
class	Ocean::Tracking::SLAM::OccupancyArray
	This class implements an occupancy array allowing to keep track of occupied and unoccupied bins in a camera image. More...
class	Ocean::Tracking::SLAM::PointTrack
	This class implements a point track which stores continuous 2D observations of a 3D object point over consecutive frames. More...
class	Ocean::Tracking::SLAM::PoseCorrespondences
	This class holds 2D-3D point correspondences for camera pose estimation. More...
class	Ocean::Tracking::SLAM::SLAMDebugElements
	The class extends DebugElements to provide visual debugging output for various SLAM components such as occupancy arrays, tracked image points, object points, and overall tracking results. More...
class	Ocean::Tracking::SLAM::Tracker
	This class implements the base class for all SLAM trackers. More...
class	Ocean::Tracking::SLAM::TrackerMono
	This class implements a monocular SLAM tracker. More...
class	Ocean::Tracking::SLAM::TrackingCorrespondences
	This class holds 2D-2D point correspondences for frame-to-frame tracking. More...
class	Ocean::Tracking::SLAM::Utilities
	This class implements utility functions for SLAM. More...

Typedefs
using	Ocean::Tracking::SLAM::SharedCameraPose = std::shared_ptr< CameraPose >
	Definition of a shared pointer holding a CameraPose object.
using	Ocean::Tracking::SLAM::LocalizedObjectPointMap = std::unordered_map< Index32, LocalizedObjectPoint >
	Definition of an unordered map mapping object point ids to localized object points.
using	Ocean::Tracking::SLAM::Mutex = std::shared_mutex
	Definition of a mutex supporting read and write locks.
using	Ocean::Tracking::SLAM::Observations = std::vector< Observation >
	Definition of a vector holding observations.
using	Ocean::Tracking::SLAM::PointTrackMap = std::unordered_map< Index32, PointTrack >
	Definition of an unordered map mapping object point ids to point tracks.

Detailed Description

The Ocean SLAM Tracking Library provides a monocular visual SLAM implementation for real-time camera tracking and 3D environment reconstruction, optimized for mobile AR/VR applications.

The pipeline detects and tracks Harris corner features across image pyramids, estimates camera poses using P3P+RANSAC with optional IMU gravity constraints, and builds a 3D map through multi-view triangulation with background bundle adjustment. Core classes include TrackerMono (main tracker), LocalizedObjectPoint (3D map points with FREAK descriptors), CameraPoses (thread-safe pose storage), and TrackingCorrespondences (frame-to-frame feature tracking).

See also

Tracker, TrackerMono, CameraPose, LocalizedObjectPoint

Typedef Documentation

LocalizedObjectPointMap

using Ocean::Tracking::SLAM::LocalizedObjectPointMap = typedef std::unordered_map<Index32, LocalizedObjectPoint>

Definition of an unordered map mapping object point ids to localized object points.

Mutex

using Ocean::Tracking::SLAM::Mutex = typedef std::shared_mutex

Definition of a mutex supporting read and write locks.

The mutex is not recursive.

This mutex allows multiple concurrent read locks (shared access) but only one write lock (exclusive access). Use ReadLock for read-only operations and WriteLock when modifying shared data.

Example usage:

class SharedResource
{
    public:
 
        // Read operation: multiple threads can read simultaneously
        int getValue() const
        {
            const ReadLock readLock(mutex_);
 
            return value_;
        }
 
        // Write operation: exclusive access, blocks all readers and writers
        void setValue(int newValue)
        {
            const WriteLock writeLock(mutex_);
 
            value_ = newValue;
        }
 
        // Named locks for timing diagnostics (when LockManager::isEnabled_ is true)
        void updateWithTiming(int newValue)
        {
            const WriteLock writeLock(mutex_, "SharedResource::updateWithTiming");
 
            value_ = newValue;
        }
 
    protected:
 
        /// The value of the shared resource.
        int value_ = 0;
 
        /// The mutex of the shared resource.
        mutable Mutex mutex_;
};

Observations

using Ocean::Tracking::SLAM::Observations = typedef std::vector<Observation>

Definition of a vector holding observations.

PointTrackMap

using Ocean::Tracking::SLAM::PointTrackMap = typedef std::unordered_map<Index32, PointTrack>

Definition of an unordered map mapping object point ids to point tracks.

SharedCameraPose

using Ocean::Tracking::SLAM::SharedCameraPose = typedef std::shared_ptr<CameraPose>

Definition of a shared pointer holding a CameraPose object.

See also

CameraPose