Atlas

Manages a collection of maps for the ORB-SLAM system. More...

Collaboration diagram for Atlas:

Public Member Functions
	Atlas (int initKFid, LogPtr log)
	Constructs an Atlas and creates the first map.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Atlas (LogPtr log)
	Constructs an Atlas with a logger.
	~Atlas ()
	Destructor.
GeometricCamera *	AddCamera (GeometricCamera *pCam)
	Adds a camera model, returning an existing one if equal.
void	AddKeyFrame (KeyFrame *pKF)
	Adds a keyframe to the current map.
void	AddMapPoint (MapPoint *pMP)
	Adds a map point to the current map.
void	ChangeMap (Map *pMap)
	Switches the current active map.
void	clearAtlas ()
	Clears the entire Atlas, removing all maps and data.
void	clearMap ()
	Clears the current map.
uint04	CountMaps ()
	Returns the number of maps in this Atlas.
Map *	createNewMap ()
	Creates a new map and sets it as the current map.
Map *	currentMapPtr ()
	Returns a pointer to the current active map.
Buffer< GeometricCamera * >	GetAllCameras ()
	Returns all registered cameras.
Buffer< KeyFrame * >	GetAllKeyFrames ()
	Returns all keyframes in the current map.
Buffer< MapPoint * >	GetAllMapPoints ()
	Returns all map points in the current map.
Buffer< Map * >	GetAllMaps ()
	Returns all maps managed by this Atlas.
KeyFrameDatabase *	GetKeyFrameDatabase ()
	Returns the keyframe database.
int	GetLastBigChangeIdx ()
	Returns the index of the last big change in the current map.
uint04	GetLastInitKFid ()
	Returns the last initial keyframe ID across all maps.
ORBVocabulary *	GetORBVocabulary ()
	Returns the ORB vocabulary.
Buffer< MapPoint * >	GetReferenceMapPoints ()
	Returns the reference map points in the current map.
void	InformNewBigChange ()
	Signals that a big change (e.g.
bool	isImuInitialized ()
	Checks whether the IMU has been initialized for the current map.
bool	isInertial ()
	Checks whether the current map uses an inertial sensor.
uint04	KeyFramesInMap ()
	Returns the number of keyframes in the current map.
uint04	MapPointsInMap ()
	Returns the number of map points in the current map.
void	RemoveBadMaps ()
	Removes all maps that have been marked as bad.
void	SetImuInitialized ()
	Marks the IMU as initialized for the current map.
void	SetInertialSensor (bool is_inertial)
	Sets whether the current map uses an inertial sensor.
void	SetKeyFrameDababase (KeyFrameDatabase *pKFDB)
	Sets the keyframe database used for place recognition.
void	SetMapBad (Map *pMap)
	Marks a map as bad and moves it to the bad maps list.
void	SetORBVocabulary (ORBVocabulary *pORBVoc)
	Sets the ORB vocabulary for feature matching.
void	SetReferenceMapPoints (const Buffer< MapPoint * > &vpMPs)
	Sets the reference map points for the current map.

Protected Attributes
LogPtr	m_log = nullptr
	Logger instance.
std::mutex	mMutexAtlas
	Mutex protecting Atlas state.
uint04	mnLastInitKFidMap = 0U
	Last initial keyframe ID across maps.
Map *	mpCurrentMap = nullptr
	Currently active map.
KeyFrameDatabase *	mpKeyFrameDB = nullptr
	Keyframe database for place recognition.
ORBVocabulary *	mpORBVocabulary = nullptr
	ORB vocabulary for feature matching.
Buffer< Map * >	mspBadMaps
	Maps marked as bad.
Buffer< Map * >	mspMaps
	All active maps.
Buffer< GeometricCamera * >	mvpCameras
	Registered camera models.

Detailed Description

Manages a collection of maps for the ORB-SLAM system.

The Atlas holds multiple maps, tracks the current active map, and provides methods for adding/removing keyframes, map points, and cameras across maps.

Definition at line 28 of file Atlas.h.

Constructor & Destructor Documentation

Atlas() [1/2]

EIGEN_MAKE_ALIGNED_OPERATOR_NEW Atlas::Atlas

(

LogPtr

log

)

Constructs an Atlas with a logger.

Parameters

[in]

log

Logger for diagnostic output.

Atlas() [2/2]

Atlas::Atlas	(	int	initKFid,
		LogPtr	log )

Constructs an Atlas and creates the first map.

Parameters

[in]	initKFid	Initial keyframe ID for the first map.
[in]	log	Logger for diagnostic output.

Member Function Documentation

AddCamera()

GeometricCamera * Atlas::AddCamera

(

GeometricCamera *

pCam

)

Adds a camera model, returning an existing one if equal.

Parameters

[in]

pCam

Pointer to the camera to add.

Returns

Pointer to the added or existing equivalent camera.

AddKeyFrame()

void Atlas::AddKeyFrame

(

KeyFrame *

pKF

)

Adds a keyframe to the current map.

Parameters

[in]

pKF

Pointer to the keyframe to add.

AddMapPoint()

void Atlas::AddMapPoint

(

MapPoint *

pMP

)

Adds a map point to the current map.

Parameters

[in]

pMP

Pointer to the map point to add.

ChangeMap()

void Atlas::ChangeMap

(

Map *

pMap

)

Switches the current active map.

Parameters

[in]

pMap

Pointer to the map to activate.

CountMaps()

uint04 Atlas::CountMaps

(

)

Returns the number of maps in this Atlas.

Returns

Map count.

createNewMap()

Map * Atlas::createNewMap

(

)

Creates a new map and sets it as the current map.

Returns

Pointer to the newly created map.

currentMapPtr()

Map * Atlas::currentMapPtr

(

)

Returns a pointer to the current active map.

Returns

Pointer to the current map.

GetAllCameras()

Buffer< GeometricCamera * > Atlas::GetAllCameras

(

)

Returns all registered cameras.

Returns

Buffer of camera pointers.

GetAllKeyFrames()

Buffer< KeyFrame * > Atlas::GetAllKeyFrames

(

)

Returns all keyframes in the current map.

Returns

Buffer of keyframe pointers.

GetAllMapPoints()

Buffer< MapPoint * > Atlas::GetAllMapPoints

(

)

Returns all map points in the current map.

Returns

Buffer of map point pointers.

GetAllMaps()

Buffer< Map * > Atlas::GetAllMaps

(

)

Returns all maps managed by this Atlas.

Returns

Buffer of map pointers.

GetKeyFrameDatabase()

KeyFrameDatabase * Atlas::GetKeyFrameDatabase

(

)

Returns the keyframe database.

Returns

Pointer to the keyframe database.

GetLastBigChangeIdx()

int Atlas::GetLastBigChangeIdx

(

)

Returns the index of the last big change in the current map.

Returns

The big change index.

GetLastInitKFid()

uint04 Atlas::GetLastInitKFid

(

)

Returns the last initial keyframe ID across all maps.

Returns

The last initial keyframe ID.

GetORBVocabulary()

ORBVocabulary * Atlas::GetORBVocabulary

(

)

Returns the ORB vocabulary.

Returns

Pointer to the ORB vocabulary.

GetReferenceMapPoints()

Buffer< MapPoint * > Atlas::GetReferenceMapPoints

(

)

Returns the reference map points in the current map.

Returns

Buffer of reference map point pointers.

InformNewBigChange()

void Atlas::InformNewBigChange

(

)

Signals that a big change (e.g.

loop closure) has occurred in the current map.

isImuInitialized()

bool Atlas::isImuInitialized

(

)

Checks whether the IMU has been initialized for the current map.

Returns

True if the IMU is initialized.

isInertial()

bool Atlas::isInertial

(

)

Checks whether the current map uses an inertial sensor.

Returns

True if the current map is inertial.

KeyFramesInMap()

uint04 Atlas::KeyFramesInMap

(

)

Returns the number of keyframes in the current map.

Returns

Keyframe count.

MapPointsInMap()

uint04 Atlas::MapPointsInMap

(

)

Returns the number of map points in the current map.

Returns

Map point count.

SetInertialSensor()

void Atlas::SetInertialSensor

(

bool

is_inertial

)

Sets whether the current map uses an inertial sensor.

Parameters

[in]

is_inertial

True to enable inertial mode.

SetKeyFrameDababase()

void Atlas::SetKeyFrameDababase

(

KeyFrameDatabase *

pKFDB

)

Sets the keyframe database used for place recognition.

Parameters

[in]

pKFDB

Pointer to the keyframe database.

SetMapBad()

void Atlas::SetMapBad

(

Map *

pMap

)

Marks a map as bad and moves it to the bad maps list.

Parameters

[in]

pMap

Pointer to the map to mark as bad.

SetORBVocabulary()

void Atlas::SetORBVocabulary

(

ORBVocabulary *

pORBVoc

)

Sets the ORB vocabulary for feature matching.

Parameters

[in]

pORBVoc

Pointer to the ORB vocabulary.

SetReferenceMapPoints()

void Atlas::SetReferenceMapPoints

(

const Buffer< MapPoint * > &

vpMPs

)

Sets the reference map points for the current map.

Parameters

[in]

vpMPs

Buffer of reference map point pointers.

---

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

• OrbSLAM/Headers/Atlas.h