OrbSLAM

Main entry point for the ORB-SLAM3 system. More...

Public Member Functions
	OrbSLAM (const File &vocab, const SLAMParameters &params, LogPtr log)
	Constructs and initializes the SLAM system with a vocabulary file.
	OrbSLAM (const SLAMParameters &params, LogPtr log)
	Constructs and initializes the SLAM system without a vocabulary file.
void	ActivateLocalizationMode ()
	Activates localization-only mode (stops map building).
void	ChangeDataset ()
	Signals a dataset change for multi-sequence operation.
uint04	CurrentMapID () const
	Returns the current map ID.
void	DeactivateLocalizationMode ()
	Deactivates localization-only mode (resumes SLAM).
Buffer< KeyFrame * >	getAllKeyFrames () const
	Returns all keyframes across all maps.
Buffer< Sophus::SE3f >	getAllKeyFramesAfter (uint04 index) const
	Returns keyframe poses after a given index.
double	GetTimeFromIMUInit ()
	Returns the time elapsed since IMU initialization.
Buffer< MapPoint * >	GetTrackedMapPoints ()
	Returns the tracked map points from the most recent frame.
Tracking::eTrackingState	GetTrackingState ()
	Returns the current tracking state.
void	init (const File &vocab, const SLAMParameters &params)
	Initializes the system with a vocabulary file and parameters.
bool	isShutDown ()
	Checks whether the system has been shut down.
const KeyFrame *	lastKeyFrame () const
	Returns the last processed keyframe.
bool	MapChanged ()
	Checks whether the map has changed since the last call.
bool	needsMapReset () const
	Checks whether the map needs to be reset.
void	reset ()
	Resets the entire system, clearing the Atlas.
void	ResetActiveMap ()
	Resets only the active map.
void	setParams (const SLAMParameters &params)
	Updates the SLAM configuration parameters.
void	Shutdown ()
	Shuts down all threads and waits for them to finish.
Sophus::SE3f	TrackMonocular (OrbTrackingInfo &info)
	Processes a monocular frame and returns the estimated camera pose.
Sophus::SE3f	TrackRGBD (OrbTrackingInfo &info)
	Processes an RGB-D frame and returns the estimated camera pose.
Sophus::SE3f	TrackStereo (OrbTrackingInfo &info)
	Processes a stereo frame and returns the estimated camera pose.
void	updateInfo (const Matrix< fltp08 > &global_offset, DesignObjectLookup *lookup, const Model &frame_model, const Matrix< fltp08 > &frame_model_transform, bool show_keyframes, bool show_map_points)
	Updates the visualization models with current SLAM data.

Detailed Description

Main entry point for the ORB-SLAM3 system.

Manages the tracking, local mapping, and loop closing threads. Provides methods to process stereo, RGB-D, and monocular frames, and to query system state.

Definition at line 36 of file System.h.

Constructor & Destructor Documentation

OrbSLAM() [1/2]

OrbSLAM::OrbSLAM	(	const SLAMParameters &	params,
		LogPtr	log )

Constructs and initializes the SLAM system without a vocabulary file.

Parameters

[in]	params	SLAM configuration parameters.
[in]	log	Logger for diagnostic output.

OrbSLAM() [2/2]

OrbSLAM::OrbSLAM	(	const File &	vocab,
		const SLAMParameters &	params,
		LogPtr	log )

Constructs and initializes the SLAM system with a vocabulary file.

Parameters

[in]	vocab	Path to the ORB vocabulary file.
[in]	params	SLAM configuration parameters.
[in]	log	Logger for diagnostic output.

Member Function Documentation

CurrentMapID()

uint04 OrbSLAM::CurrentMapID

(

)

const

Returns the current map ID.

Returns

The map ID.

getAllKeyFrames()

Buffer< KeyFrame * > OrbSLAM::getAllKeyFrames

(

)

const

Returns all keyframes across all maps.

Returns

Buffer of keyframe pointers.

getAllKeyFramesAfter()

Buffer< Sophus::SE3f > OrbSLAM::getAllKeyFramesAfter

(

uint04

index

)

const

Returns keyframe poses after a given index.

Parameters

[in]

index

Minimum keyframe ID to include.

Returns

Buffer of SE3 poses.

GetTimeFromIMUInit()

double OrbSLAM::GetTimeFromIMUInit

(

)

Returns the time elapsed since IMU initialization.

Returns

Time in seconds.

GetTrackedMapPoints()

Buffer< MapPoint * > OrbSLAM::GetTrackedMapPoints

(

)

Returns the tracked map points from the most recent frame.

Returns

Buffer of tracked map point pointers.

GetTrackingState()

Tracking::eTrackingState OrbSLAM::GetTrackingState

(

)

Returns the current tracking state.

Returns

The tracking state enum value.

init()

void OrbSLAM::init	(	const File &	vocab,
		const SLAMParameters &	params )

Initializes the system with a vocabulary file and parameters.

Parameters

[in]	vocab	Path to the ORB vocabulary file.
[in]	params	SLAM configuration parameters.

isShutDown()

bool OrbSLAM::isShutDown

(

)

Checks whether the system has been shut down.

Returns

True if shut down.

lastKeyFrame()

const KeyFrame * OrbSLAM::lastKeyFrame

(

)

const

Returns the last processed keyframe.

Returns

Pointer to the last keyframe.

MapChanged()

bool OrbSLAM::MapChanged

(

)

Checks whether the map has changed since the last call.

Returns

True if a big map change occurred (loop closure, global BA).

needsMapReset()

bool OrbSLAM::needsMapReset

(

)

const

Checks whether the map needs to be reset.

Returns

True if a map reset is needed.

setParams()

void OrbSLAM::setParams

(

const SLAMParameters &

params

)

Updates the SLAM configuration parameters.

Parameters

[in]

params

New configuration parameters.

TrackMonocular()

Sophus::SE3f OrbSLAM::TrackMonocular

(

OrbTrackingInfo &

info

)

Processes a monocular frame and returns the estimated camera pose.

Parameters

[in]

info

Tracking info containing the monocular image.

Returns

The estimated camera pose (empty if tracking fails).

TrackRGBD()

Sophus::SE3f OrbSLAM::TrackRGBD

(

OrbTrackingInfo &

info

)

Processes an RGB-D frame and returns the estimated camera pose.

Parameters

[in]

info

Tracking info containing color and depth images.

Returns

The estimated camera pose (empty if tracking fails).

TrackStereo()

Sophus::SE3f OrbSLAM::TrackStereo

(

OrbTrackingInfo &

info

)

Processes a stereo frame and returns the estimated camera pose.

Parameters

[in]

info

Tracking info containing stereo images and metadata.

Returns

The estimated camera pose (empty if tracking fails).

updateInfo()

void OrbSLAM::updateInfo	(	const Matrix< fltp08 > &	global_offset,
		DesignObjectLookup *	lookup,
		const Model &	frame_model,
		const Matrix< fltp08 > &	frame_model_transform,
		bool	show_keyframes,
		bool	show_map_points )

Updates the visualization models with current SLAM data.

Parameters

[in]	global_offset	Global coordinate offset matrix.
[in]	lookup	Design object lookup.
[in]	frame_model	Model representing the current frame.
[in]	frame_model_transform	Transform for the frame model.
[in]	show_keyframes	Whether to show keyframes.
[in]	show_map_points	Whether to show map points.

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

• OrbSLAM/Headers/System.h