#include <System.h>

Public Types
enum	eSensor { MONOCULAR =0, STEREO =1, RGBD =2 }

Public Member Functions
cv::Mat	DrawCurrentFrame ()

void	EnableLocalizationOnly (bool localize_only)

std::vector< MapPoint * >	GetAllMapPoints ()

cv::Mat	GetCurrentPosition ()

std::vector< cv::KeyPoint >	GetTrackedKeyPointsUn ()

std::vector< MapPoint * >	GetTrackedMapPoints ()

int	GetTrackingState ()

bool	isRunningGBA ()

bool	MapChanged ()

void	Reset ()

void	SaveKeyFrameTrajectoryTUM (const string &filename)

bool	SaveMap (const string &filename)

void	SaveTrajectoryKITTI (const string &filename)

void	SaveTrajectoryTUM (const string &filename)

void	SetMinimumKeyFrames (int min_num_kf)

void	Shutdown ()

	System (const string strVocFile, const eSensor sensor, ORBParameters &parameters, const std::string &map_file="", bool load_map=false)

void	TrackMonocular (const cv::Mat &im, const double &timestamp)

void	TrackRGBD (const cv::Mat &im, const cv::Mat &depthmap, const double &timestamp)

void	TrackStereo (const cv::Mat &imLeft, const cv::Mat &imRight, const double &timestamp)

Private Member Functions
void	ActivateLocalizationMode ()

void	DeactivateLocalizationMode ()

rlim_t	GetCurrentCallStackSize ()

bool	LoadMap (const string &filename)

bool	SetCallStackSize (const rlim_t kNewStackSize)

Private Attributes
cv::Mat	current_position_

bool	currently_localizing_only_

bool	load_map

std::string	map_file

bool	mbActivateLocalizationMode

bool	mbDeactivateLocalizationMode

bool	mbReset

std::mutex	mMutexMode

std::mutex	mMutexReset

std::mutex	mMutexState

FrameDrawer *	mpFrameDrawer

KeyFrameDatabase *	mpKeyFrameDatabase

LocalMapping *	mpLocalMapper

LoopClosing *	mpLoopCloser

Map *	mpMap

std::thread *	mptLocalMapping

std::thread *	mptLoopClosing

Tracking *	mpTracker

ORBVocabulary *	mpVocabulary

eSensor	mSensor

std::vector< cv::KeyPoint >	mTrackedKeyPointsUn

std::vector< MapPoint * >	mTrackedMapPoints

int	mTrackingState

Detailed Description

Definition at line 50 of file System.h.

Member Enumeration Documentation

◆ eSensor

enum ORB_SLAM2::System::eSensor

Enumerator
MONOCULAR
STEREO
RGBD

Definition at line 54 of file System.h.

Constructor & Destructor Documentation

◆ System()

ORB_SLAM2::System::System	(	const string	strVocFile,
		const eSensor	sensor,
		ORBParameters &	parameters,
		const std::string &	map_file = `""`,
		bool	load_map = `false`
	)

Definition at line 31 of file System.cc.

Member Function Documentation

◆ ActivateLocalizationMode()

void ORB_SLAM2::System::ActivateLocalizationMode ( )

private

Definition at line 544 of file System.cc.

◆ DeactivateLocalizationMode()

void ORB_SLAM2::System::DeactivateLocalizationMode ( )

private

Definition at line 551 of file System.cc.

◆ DrawCurrentFrame()

cv::Mat ORB_SLAM2::System::DrawCurrentFrame ( )

Definition at line 493 of file System.cc.

◆ EnableLocalizationOnly()

void ORB_SLAM2::System::EnableLocalizationOnly ( bool localize_only )

Definition at line 558 of file System.cc.

◆ GetAllMapPoints()

std::vector< MapPoint * > ORB_SLAM2::System::GetAllMapPoints ( )

Definition at line 497 of file System.cc.

◆ GetCurrentCallStackSize()

rlim_t ORB_SLAM2::System::GetCurrentCallStackSize ( )

private

Definition at line 530 of file System.cc.

◆ GetCurrentPosition()

cv::Mat ORB_SLAM2::System::GetCurrentPosition ( )

Definition at line 471 of file System.cc.

◆ GetTrackedKeyPointsUn()

vector< cv::KeyPoint > ORB_SLAM2::System::GetTrackedKeyPointsUn ( )

Definition at line 487 of file System.cc.

◆ GetTrackedMapPoints()

vector< MapPoint * > ORB_SLAM2::System::GetTrackedMapPoints ( )

Definition at line 481 of file System.cc.

◆ GetTrackingState()

int ORB_SLAM2::System::GetTrackingState ( )

Definition at line 475 of file System.cc.

◆ isRunningGBA()

bool ORB_SLAM2::System::isRunningGBA ( )

Definition at line 292 of file System.cc.

◆ LoadMap()

bool ORB_SLAM2::System::LoadMap ( const string & filename )

private

Definition at line 609 of file System.cc.

◆ MapChanged()

bool ORB_SLAM2::System::MapChanged ( )

Definition at line 279 of file System.cc.

◆ Reset()

void ORB_SLAM2::System::Reset ( )

Definition at line 297 of file System.cc.

◆ SaveKeyFrameTrajectoryTUM()

void ORB_SLAM2::System::SaveKeyFrameTrajectoryTUM ( const string & filename )

Definition at line 376 of file System.cc.

◆ SaveMap()

bool ORB_SLAM2::System::SaveMap ( const string & filename )

Definition at line 573 of file System.cc.

◆ SaveTrajectoryKITTI()

void ORB_SLAM2::System::SaveTrajectoryKITTI ( const string & filename )

Definition at line 412 of file System.cc.

◆ SaveTrajectoryTUM()

void ORB_SLAM2::System::SaveTrajectoryTUM ( const string & filename )

Definition at line 315 of file System.cc.

◆ SetCallStackSize()

bool ORB_SLAM2::System::SetCallStackSize ( const rlim_t kNewStackSize )

private

Definition at line 502 of file System.cc.

◆ SetMinimumKeyFrames()

void ORB_SLAM2::System::SetMinimumKeyFrames ( int min_num_kf )

Definition at line 467 of file System.cc.

◆ Shutdown()

void ORB_SLAM2::System::Shutdown ( )

Definition at line 303 of file System.cc.

◆ TrackMonocular()

void ORB_SLAM2::System::TrackMonocular	(	const cv::Mat &	im,
		const double &	timestamp
	)

Definition at line 227 of file System.cc.

◆ TrackRGBD()

void ORB_SLAM2::System::TrackRGBD	(	const cv::Mat &	im,
		const cv::Mat &	depthmap,
		const double &	timestamp
	)

Definition at line 176 of file System.cc.

◆ TrackStereo()

void ORB_SLAM2::System::TrackStereo	(	const cv::Mat &	imLeft,
		const cv::Mat &	imRight,
		const double &	timestamp
	)

Definition at line 125 of file System.cc.

Member Data Documentation

◆ current_position_

cv::Mat ORB_SLAM2::System::current_position_

private

Definition at line 204 of file System.h.

◆ currently_localizing_only_

bool ORB_SLAM2::System::currently_localizing_only_

private

Definition at line 151 of file System.h.

◆ load_map

bool ORB_SLAM2::System::load_map

private

Definition at line 153 of file System.h.

◆ map_file

std::string ORB_SLAM2::System::map_file

private

Definition at line 155 of file System.h.

◆ mbActivateLocalizationMode

bool ORB_SLAM2::System::mbActivateLocalizationMode

private

Definition at line 194 of file System.h.

◆ mbDeactivateLocalizationMode

bool ORB_SLAM2::System::mbDeactivateLocalizationMode

private

Definition at line 195 of file System.h.

◆ mbReset

bool ORB_SLAM2::System::mbReset

private

Definition at line 190 of file System.h.

◆ mMutexMode

std::mutex ORB_SLAM2::System::mMutexMode

private

Definition at line 193 of file System.h.

◆ mMutexReset

std::mutex ORB_SLAM2::System::mMutexReset

private

Definition at line 189 of file System.h.

◆ mMutexState

std::mutex ORB_SLAM2::System::mMutexState

private

Definition at line 201 of file System.h.

◆ mpFrameDrawer

FrameDrawer* ORB_SLAM2::System::mpFrameDrawer

private

Definition at line 181 of file System.h.

◆ mpKeyFrameDatabase

KeyFrameDatabase* ORB_SLAM2::System::mpKeyFrameDatabase

private

Definition at line 164 of file System.h.

◆ mpLocalMapper

LocalMapping* ORB_SLAM2::System::mpLocalMapper

private

Definition at line 175 of file System.h.

◆ mpLoopCloser

LoopClosing* ORB_SLAM2::System::mpLoopCloser

private

Definition at line 179 of file System.h.

◆ mpMap

Map* ORB_SLAM2::System::mpMap

private

Definition at line 167 of file System.h.

◆ mptLocalMapping

std::thread* ORB_SLAM2::System::mptLocalMapping

private

Definition at line 185 of file System.h.

◆ mptLoopClosing

std::thread* ORB_SLAM2::System::mptLoopClosing

private

Definition at line 186 of file System.h.

◆ mpTracker

Tracking* ORB_SLAM2::System::mpTracker

private

Definition at line 172 of file System.h.

◆ mpVocabulary

ORBVocabulary* ORB_SLAM2::System::mpVocabulary

private

Definition at line 161 of file System.h.

◆ mSensor

eSensor ORB_SLAM2::System::mSensor

private

Definition at line 158 of file System.h.

◆ mTrackedKeyPointsUn

std::vector<cv::KeyPoint> ORB_SLAM2::System::mTrackedKeyPointsUn

private

Definition at line 200 of file System.h.

◆ mTrackedMapPoints

std::vector<MapPoint*> ORB_SLAM2::System::mTrackedMapPoints

private

Definition at line 199 of file System.h.

◆ mTrackingState

int ORB_SLAM2::System::mTrackingState

private

Definition at line 198 of file System.h.

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

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

◆ eSensor

Constructor & Destructor Documentation

◆ System()

Member Function Documentation

◆ ActivateLocalizationMode()

◆ DeactivateLocalizationMode()

◆ DrawCurrentFrame()

◆ EnableLocalizationOnly()

◆ GetAllMapPoints()

◆ GetCurrentCallStackSize()

◆ GetCurrentPosition()

◆ GetTrackedKeyPointsUn()

◆ GetTrackedMapPoints()

◆ GetTrackingState()

◆ isRunningGBA()

◆ LoadMap()

◆ MapChanged()

◆ Reset()

◆ SaveKeyFrameTrajectoryTUM()

◆ SaveMap()

◆ SaveTrajectoryKITTI()

◆ SaveTrajectoryTUM()

◆ SetCallStackSize()

◆ SetMinimumKeyFrames()

◆ Shutdown()

◆ TrackMonocular()

◆ TrackRGBD()

◆ TrackStereo()

Member Data Documentation

◆ current_position_

◆ currently_localizing_only_

◆ load_map

◆ map_file

◆ mbActivateLocalizationMode

◆ mbDeactivateLocalizationMode

◆ mbReset

◆ mMutexMode

◆ mMutexReset

◆ mMutexState

◆ mpFrameDrawer

◆ mpKeyFrameDatabase

◆ mpLocalMapper

◆ mpLoopCloser

◆ mpMap

◆ mptLocalMapping

◆ mptLoopClosing

◆ mpTracker

◆ mpVocabulary

◆ mSensor

◆ mTrackedKeyPointsUn

◆ mTrackedMapPoints

◆ mTrackingState