Map Manager

MapManager(params::Params, frame::Frame, extractor::Extractor)

Map Manager is responsible for managing Keyframes in the map as well as Mappoints.

Arguments

• current_frame::Frame: Current frame that is shared throughout all the components in the system.
• frames_map::Dict{Int64, Frame}: Map of the Keyframes (its id → Keyframe).
• params::Params: Parameters of the system.
• extractor::Extractor: Extractor for finding keypoints in the frames.
• map_points::Dict{Int64, MapPoint}: Map of all the map_points (its id → MapPoints).
• current_mappoint_id::Int64: Id of the current Mappoint to be created. It is incremented each time a new Mappoint is added to map_points.
• current_keyframe_id::Int64: Id of the current Keyframe to be created. It is incremented each time a new Keyframe is added to frames_map.
• nb_keyframes::Int64: Total number of keyframes.
• nb_mappoints::Int64: Total number of mappoints.

update_frame_covisibility!(map_manager::MapManager, frame::Frame)

Update covisibility graph for the frame. This is done by going through all of the keypoints in the frame. Getting their corresponding mappoints. And joining sets of observers for those mappoints.

merge_mappoints(m::MapManager, prev_id, new_id)

Merge prev_id Mappoint into new_id Mappoint. For "previous" observers, update mappoint and keypoint to the new.

optical_flow_matching!(map_manager, frame, from_pyramid, to_pyramid, stereo)

Match keypoints in frame from from_pyramid to to_pyramid. This function is used when matching keypoints temporally from previous frame to current frame, or when matching keypoints between stereo image.

If there are 3D keypoints in the frame, then try to match respectful keypoints using displacement guess from motion model (when matching temporally) or calibration pose (in stereo).

Arguments

• map_manager::MapManager: Map manager, used for retrieving parameters info, 3D mappoints, removing mappoints.
• frame: Frame for which to do matching.
• from_pyramid::LKPyramid: Pyramid from which to track.
• to_pyramid::LKPyramid: Pyramid to which to track.
• stereo::Bool: Set to true if doing stereo matching. It will retrieve data using mutex and update stereo keypoints instead of regular keypoints. Otherwise set to false.

maybe_stereo_update!(
    frame::Frame, kpid, new_position::Point2f; epipolar_error::Float64 = 2.0,
)

Update stereo keypoint if the vertical distance between matched keypoints is less than epipolar_error. In this case, set y-coordinate equal to the left keypoint. Otherwise do nothing.

Returns

true if successfully updated, otherwise false.

reset!(m::MapManager)

Reset map manager.