Relocalization Class Reference

#include <RGBD/Include/ImFusion/RGBD/Relocalization.h>

Interface for relocalization algorithms using RGB-D data, typically used in RGBDReconstructionAlgorithm. More...

Inheritance diagram for Relocalization:

Detailed Description

Interface for relocalization algorithms using RGB-D data, typically used in RGBDReconstructionAlgorithm.

This abstract base class defines the API for keyframe-based relocalization, including initialization, frame addition, and localization queries. Implementations manage a database of keyframes and provide pose candidates for new frames based on image similarity and pose estimation.

Typical usage involves initializing the relocalizer, adding frames with known poses, and querying for pose candidates of new frames.

Note

• All methods are pure virtual and must be implemented by derived classes.
• The relocalizer manages its own keyframe database.
• Not thread-safe.

See also

RGBDReconstructionAlgorithm, RGBDRelocalization

Public Member Functions
	Relocalization ()
	Constructs the relocalization interface.
virtual	~Relocalization ()
	Destroys the relocalization interface.
virtual void	clear ()=0
	Clears all keyframe data from the relocalizer.
virtual bool	init (int widthDepth, int heightDepth, int widthColor, int heightColor)=0
	Initializes relocalization parameters.
virtual int	addFrame (int id, TypedImage< float > *imgDepth, TypedImage< unsigned char > *imgColor, const mat4 &T, bool *addedToDatabase=0)=0
	Adds a frame to the relocalization database.
virtual int	localize (TypedImage< float > *imgDepth, TypedImage< unsigned char > *imgColor, std::vector< std::tuple< mat4, double, int > > &T, int k=4)=0
	Localizes a frame and returns pose candidates for closest matching frames.

Additional Inherited Members
Protected Member Functions inherited from NotCopyable
	NotCopyable (NotCopyable &&) noexcept=default
NotCopyable &	operator= (NotCopyable &&) noexcept=default
	NotCopyable (const NotCopyable &)=delete
NotCopyable &	operator= (const NotCopyable &)=delete

Member Function Documentation

clear()

virtual void clear ( )

pure virtual

Clears all keyframe data from the relocalizer.

Implemented in RelocalizationStack, and RGBDRelocalization.

init()

virtual bool init ( int widthDepth, int heightDepth, int widthColor, int heightColor )

pure virtual

Initializes relocalization parameters.

Parameters

widthDepth	Input depth image width.
heightDepth	Input depth image height.
widthColor	Input color image width.
heightColor	Input color image height.

Returns

true if initialization was successful.

Implemented in RelocalizationStack, and RGBDRelocalization.

addFrame()

virtual int addFrame ( int id, TypedImage< float > * imgDepth, TypedImage< unsigned char > * imgColor, const mat4 & T, bool * addedToDatabase = 0 )

pure virtual

Adds a frame to the relocalization database.

Parameters

	id	Frame ID.
	imgDepth	Depth image.
	imgColor	Color image.
	T	Pose for the frame.
[out]	addedToDatabase	True if the frame was added to the pose database.

Returns

Zero if successful.

Implemented in RelocalizationStack, and RGBDRelocalization.

localize()

virtual int localize ( TypedImage< float > * imgDepth, TypedImage< unsigned char > * imgColor, std::vector< std::tuple< mat4, double, int > > & T, int k = 4 )

pure virtual

Localizes a frame and returns pose candidates for closest matching frames.

Parameters

	imgDepth	Depth image.
	imgColor	Color image.
[out]	T	Vector of pose candidates (pose, normalized quality score, frame ID).
	k	Maximum number of poses to return.

Returns

Zero if successful.

Implemented in RelocalizationStack, and RGBDRelocalization.

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

• RGBD/Include/ImFusion/RGBD/Relocalization.h