Main tracking thread that processes each frame and estimates camera pose. More...

Collaboration diagram for Tracking:

Public Types
enum	eTrackingState { SYSTEM_NOT_READY = -1 , NO_IMAGES_YET = 0 , NOT_INITIALIZED = 1 , OK = 2 , RECENTLY_LOST = 3 , LOST = 4 , OK_KLT = 5 }
	Tracking state enumeration. More...
enum	GlobalFrameAlignmentState { NO_MEAS_YET , FIRST_GLOBAL_MEAS_SET , ALIGNING , ALIGNED }
	State of global frame alignment (GPS/global position). More...

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Tracking (OrbSLAM pSys, ORBVocabulary pVoc, Atlas pAtlas, KeyFrameDatabase pKFDB, const SLAMParameters &params, LogPtr log)
	Constructs the tracker.
	~Tracking ()
	Destructor.
void	appendGPSData (const Buffer< GlobalPosition * > gps_measurements, fltp08 time_offset)
	Appends GPS measurements to the processing queue.
void	appendImuData (Buffer< IMU::Point > imu_measurements, fltp08 time_offset)
	Appends IMU measurements to the processing queue.
void	CreateMapInAtlas ()
	Creates a new map in the Atlas.
bool	ensureValidData (const cv::Mat &imRectLeft) const
	Validates that the input image data is usable.
KeyFrame *	GetLastKeyFrame ()
	Returns the last keyframe.
int	GetMatchesInliers ()
	Returns the number of inlier matches in the current frame.
Sophus::SE3f	GrabImageMonocular (OrbTrackingInfo &info)
	Processes a monocular image and returns the estimated pose.
Sophus::SE3f	GrabImageRGBD (OrbTrackingInfo &info)
	Processes an RGB-D frame and returns the estimated pose.
Sophus::SE3f	GrabImageStereo (OrbTrackingInfo &info)
	Processes a stereo image pair and returns the estimated pose.
void	InformOnlyTracking (bool flag)
	Enables or disables localization-only tracking.
bool	parseCamParamFile (const SLAMParameters &params)
	Parses camera parameters from SLAM configuration.
bool	parseIMUParamFile (const SLAMParameters &params)
	Parses IMU parameters from SLAM configuration.
bool	parseORBParamFile (const SLAMParameters &params)
	Parses ORB extractor parameters from SLAM configuration.
const Sensor &	sensor () const
	Returns the sensor configuration.
void	SetLocalMapper (LocalMapping *pLocalMapper)
	Sets the local mapper reference.
void	SetLoopClosing (LoopClosing *pLoopClosing)
	Sets the loop closer reference.
void	setParams (const SLAMParameters &params)
	Updates SLAM parameters.
void	setState (eTrackingState state)
	Sets the tracking state.
eTrackingState	state () const
	Returns the current tracking state.
void	UpdateFrameIMU (fltp04 scale, const IMU::Bias &b, KeyFrame *pCurrentKeyFrame)
	Updates frame IMU data after scale/bias refinement.

Detailed Description

Main tracking thread that processes each frame and estimates camera pose.

Receives frames from the main thread, extracts features, performs tracking (via motion model, reference keyframe, or relocalization), decides when to insert new keyframes, and interfaces with local mapping and loop closing.

Definition at line 32 of file Tracking.h.

Member Enumeration Documentation

◆ eTrackingState

enum Tracking::eTrackingState

Tracking state enumeration.

Enumerator
SYSTEM_NOT_READY	System not yet ready.
NO_IMAGES_YET	No images have been received.
NOT_INITIALIZED	Map not yet initialized.
OK	Tracking is successful.
RECENTLY_LOST	Recently lost tracking.
LOST	Tracking is lost.
OK_KLT	Tracking via KLT optical flow.

Definition at line 36 of file Tracking.h.

◆ GlobalFrameAlignmentState

enum Tracking::GlobalFrameAlignmentState

State of global frame alignment (GPS/global position).

Enumerator
NO_MEAS_YET	No global measurements received.
FIRST_GLOBAL_MEAS_SET	First global measurement has been set.
ALIGNING	Alignment in progress.
ALIGNED	Global alignment complete.

Definition at line 47 of file Tracking.h.

Constructor & Destructor Documentation

◆ Tracking()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW Tracking::Tracking	(	OrbSLAM *	pSys,
		ORBVocabulary *	pVoc,
		Atlas *	pAtlas,
		KeyFrameDatabase *	pKFDB,
		const SLAMParameters &	params,
		LogPtr	log )

Constructs the tracker.

Parameters

[in]	pSys	Pointer to the OrbSLAM system.
[in]	pVoc	ORB vocabulary.
[in]	pAtlas	Pointer to the Atlas.
[in]	pKFDB	Keyframe database for place recognition.
[in]	params	SLAM configuration parameters.
[in]	log	Logger for diagnostic output.

Member Function Documentation

◆ appendGPSData()

void Tracking::appendGPSData	(	const Buffer< GlobalPosition * >	gps_measurements,
		fltp08	time_offset )

Appends GPS measurements to the processing queue.

Parameters

[in]	gps_measurements	Buffer of GPS data points.
[in]	time_offset	Time offset to apply.

◆ appendImuData()

void Tracking::appendImuData	(	Buffer< IMU::Point >	imu_measurements,
		fltp08	time_offset )

Appends IMU measurements to the processing queue.

Parameters

[in]	imu_measurements	Buffer of IMU data points.
[in]	time_offset	Time offset to apply.

◆ ensureValidData()

bool Tracking::ensureValidData ( const cv::Mat & imRectLeft ) const

Validates that the input image data is usable.

Parameters

[in] imRectLeft The left/main rectified image.

Returns: True if the data is valid.

◆ GetLastKeyFrame()

KeyFrame * Tracking::GetLastKeyFrame ( )

inline

Returns the last keyframe.

Returns: Pointer to the last keyframe.

Definition at line 145 of file Tracking.h.

◆ GetMatchesInliers()

int Tracking::GetMatchesInliers ( )

inline

Returns the number of inlier matches in the current frame.

Returns: Inlier match count.

Definition at line 155 of file Tracking.h.

◆ GrabImageMonocular()

Sophus::SE3f Tracking::GrabImageMonocular ( OrbTrackingInfo & info )

Processes a monocular image and returns the estimated pose.

Parameters

[in] info Tracking info with the monocular image.

Returns: The estimated camera pose.

◆ GrabImageRGBD()

Sophus::SE3f Tracking::GrabImageRGBD ( OrbTrackingInfo & info )

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

Parameters

[in] info Tracking info with color and depth images.

Returns: The estimated camera pose.

◆ GrabImageStereo()

Sophus::SE3f Tracking::GrabImageStereo ( OrbTrackingInfo & info )

Processes a stereo image pair and returns the estimated pose.

Parameters

[in] info Tracking info with stereo images.

Returns: The estimated camera pose.

◆ InformOnlyTracking()

void Tracking::InformOnlyTracking ( bool flag )

Enables or disables localization-only tracking.

Parameters

[in] flag True for localization-only mode.

◆ parseCamParamFile()

bool Tracking::parseCamParamFile ( const SLAMParameters & params )

Parses camera parameters from SLAM configuration.

Parameters

[in] params SLAM parameters.

Returns: True if parsing succeeded.

◆ parseIMUParamFile()

bool Tracking::parseIMUParamFile ( const SLAMParameters & params )

Parses IMU parameters from SLAM configuration.

Parameters

[in] params SLAM parameters.

Returns: True if parsing succeeded.

◆ parseORBParamFile()

bool Tracking::parseORBParamFile ( const SLAMParameters & params )

Parses ORB extractor parameters from SLAM configuration.

Parameters

[in] params SLAM parameters.

Returns: True if parsing succeeded.

◆ sensor()

const Sensor & Tracking::sensor ( ) const

inline

Returns the sensor configuration.

Returns: Reference to the sensor config.

Definition at line 149 of file Tracking.h.

◆ SetLocalMapper()

void Tracking::SetLocalMapper ( LocalMapping * pLocalMapper )

Sets the local mapper reference.

Parameters

[in] pLocalMapper Pointer to the local mapper.

◆ SetLoopClosing()

void Tracking::SetLoopClosing ( LoopClosing * pLoopClosing )

Sets the loop closer reference.

Parameters

[in] pLoopClosing Pointer to the loop closer.

◆ setParams()

void Tracking::setParams ( const SLAMParameters & params )

Updates SLAM parameters.

Parameters

[in] params New configuration parameters.

◆ setState()

void Tracking::setState ( eTrackingState state )

inline

Sets the tracking state.

Parameters

[in] state New tracking state.

Definition at line 129 of file Tracking.h.

References state().

◆ state()

eTrackingState Tracking::state ( ) const

inline

Returns the current tracking state.

Returns: The tracking state.

Definition at line 125 of file Tracking.h.

Referenced by setState().

◆ UpdateFrameIMU()

void Tracking::UpdateFrameIMU	(	fltp04	scale,
		const IMU::Bias &	b,
		KeyFrame *	pCurrentKeyFrame )

Updates frame IMU data after scale/bias refinement.

Parameters

[in]	scale	Refined scale factor.
[in]	b	Refined IMU bias.
[in]	pCurrentKeyFrame	Current keyframe.

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

OrbSLAM/Headers/Tracking.h

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ eTrackingState

◆ GlobalFrameAlignmentState

Constructor & Destructor Documentation

◆ Tracking()

Member Function Documentation

◆ appendGPSData()

◆ appendImuData()

◆ ensureValidData()

◆ GetLastKeyFrame()

◆ GetMatchesInliers()

◆ GrabImageMonocular()

◆ GrabImageRGBD()

◆ GrabImageStereo()

◆ InformOnlyTracking()

◆ parseCamParamFile()

◆ parseIMUParamFile()

◆ parseORBParamFile()

◆ sensor()

◆ SetLocalMapper()

◆ SetLoopClosing()

◆ setParams()

◆ setState()

◆ state()

◆ UpdateFrameIMU()