Improved diagrams

docs/TROUBLESHOOTING.md

@@ -3,19 +3,19 @@
 <!-- TOC -->
 
 - [Troubleshooting](#troubleshooting)
-  - [Bad tracking performances](#bad-tracking-performances)
-  - [Gtk-ERROR \*\*: ... GTK+ 2.x symbols detected. Using GTK+ 2.x and GTK+ 3 in the same process is not supported](#gtk-error---gtk-2x-symbols-detected-using-gtk-2x-and-gtk-3-in-the-same-process-is-not-supported)
-  - [SURF error](#surf-error)
-  - [g2o Errors](#g2o-errors)
-    - [AttributeError: 'g2o.EdgeSE3ProjectXYZ' object has no attribute 'fx'](#attributeerror-g2oedgese3projectxyz-object-has-no-attribute-fx)
-    - [Cannot properly import g2o library or other libs](#cannot-properly-import-g2o-library-or-other-libs)
-  - [When loading a neural network with CUDA everything gets stuck](#when-loading-a-neural-network-with-cuda-everything-gets-stuck)
-  - [OrderedSet](#orderedset)
-  - [Problems with ROS and OpenCV](#problems-with-ros-and-opencv)
-  - [Could not import PILLOW\_VERSION from PIL](#could-not-import-pillow_version-from-pil)
-  - [ValueError: ndarray is not C-contiguous](#valueerror-ndarray-is-not-c-contiguous)
-  - [Error: python3: malloc.c:2401: sysmalloc: Assertion \`(old\_top == initial\_top (av) \&\& old\_size == 0) ...](#error-python3-mallocc2401-sysmalloc-assertion-old_top--initial_top-av--old_size--0-)
-  - [Python version](#python-version)
+    - [1. Bad tracking performances](#1-bad-tracking-performances)
+    - [2. Gtk-ERROR **: ... GTK+ 2.x symbols detected. Using GTK+ 2.x and GTK+ 3 in the same process is not supported](#2-gtk-error---gtk-2x-symbols-detected-using-gtk-2x-and-gtk-3-in-the-same-process-is-not-supported)
+    - [3. SURF error](#3-surf-error)
+    - [4. g2o Errors](#4-g2o-errors)
+        - [4.1. AttributeError: 'g2o.EdgeSE3ProjectXYZ' object has no attribute 'fx'](#41-attributeerror-g2oedgese3projectxyz-object-has-no-attribute-fx)
+        - [4.2. Cannot properly import g2o library or other libs](#42-cannot-properly-import-g2o-library-or-other-libs)
+    - [5. When loading a neural network with CUDA everything gets stuck](#5-when-loading-a-neural-network-with-cuda-everything-gets-stuck)
+    - [6. OrderedSet](#6-orderedset)
+    - [7. Problems with ROS and OpenCV](#7-problems-with-ros-and-opencv)
+    - [8. Could not import PILLOW_VERSION from PIL](#8-could-not-import-pillow_version-from-pil)
+    - [9. ValueError: ndarray is not C-contiguous](#9-valueerror-ndarray-is-not-c-contiguous)
+    - [10. Error: python3: malloc.c:2401: sysmalloc: Assertion old_top == initial_top av && old_size == 0 ...](#10-error-python3-mallocc2401-sysmalloc-assertion-old_top--initial_top-av--old_size--0-)
+    - [11. Python version](#11-python-version)
 
 <!-- /TOC -->
 
@@ -28,7 +28,7 @@ If you work under **Ubuntu 20.04** or **MacOS**, check the specific installation
 
 ## Bad tracking performances
 
-Due to the multi-threading system (tracking thread + local mapping thread) and the non-super-fast performances of the python implementations (indeed, [python is not actually multithreading](https://www.theserverside.com/blog/Coffee-Talk-Java-News-Stories-and-Opinions/Is-Pythons-GIL-the-software-worlds-biggest-blunder#:~:text=Python%20multithreading&text=Python's%20Global%20Interpreter%20Lock%20(GIL,the%20direction%20computer%20hardware%20took.)), bad tracking performances may occur and vary depending on your machine computation capabilities. In a few words, it may happen that the local mapping thread is not fast enough to spawn new map points in time for the tracking thread. In fact, new spawned map points are necessary to let the tracking thread find enough {keypoint}-{map point} correspondences, and hence stably grasp at the map and proceed along its estimated trajectory. Simply put, the local mapping thread continuously builds/unrolls the fundamental 'carpet' of points (the map) on which the tracking thread 'walks': no 'carpet', no party!
+Due to the multi-threading system (tracking thread + local mapping thread) and the non-super-fast performances of the python implementations (indeed, [python is not actually multithreading](https://www.theserverside.com/blog/Coffee-Talk-Java-News-Stories-and-Opinions/Is-Pythons-GIL-the-software-worlds-biggest-blunder)), bad tracking performances may occur and vary depending on your machine computation capabilities. In a few words, it may happen that the local mapping thread is not fast enough to spawn new map points in time for the tracking thread. In fact, new spawned map points are necessary to let the tracking thread find enough {keypoint}-{map point} correspondences, and hence stably grasp at the map and proceed along its estimated trajectory. Simply put, the local mapping thread continuously builds/unrolls the fundamental 'carpet' of points (the map) on which the tracking thread 'walks': no 'carpet', no party!
 
 If you experience bad tracking performances, go in [config_parameters.py](./config_parameters.py) and try to set `kTrackingWaitForLocalMappingToGetIdle=True`.
 

docs/images/feature_matcher.md

@@ -1,33 +1,19 @@
 graph LR;
     %% Set default styles for all edges
-    linkStyle default stroke:#0000FF,stroke-width:1px,font-size:10px;
+    linkStyle default stroke:#021526,stroke-width:1px,font-size:10px;
+
+    classDef factory fill:#,stroke:#6EACDA,stroke-width:1px
+    classDef matcher fill:#,stroke:#6EACDA,stroke-width:1px
+    classDef singleMatcher fill:#,stroke:#6EACDA,stroke-width:1px
+    classDef featureMatcher fill:#,stroke:#6EACDA,stroke-width:1px
+    classDef component fill:#,stroke:#6EACDA,stroke-width:1px
 
-    %% feature_matcher_factory
-    classDef factory fill:#f9f,stroke:#333,stroke-width:2px
-    class feature_matcher_factory factory;
-
-    %% FeatureMatcher types
-    classDef matcher fill:#f9f,stroke:#333,stroke-width:2px
-    class BF matcher;
-    class FLANN matcher;
-    class XFEAT matcher;
-    class LIGHTGLUE matcher;
-    class LOFTR matcher;
-
     feature_matcher_factory -->|*matcher_type*| BF;
     feature_matcher_factory -->|*matcher_type*| FLANN;
     feature_matcher_factory -->|*matcher_type*| XFEAT;
     feature_matcher_factory -->|*matcher_type*| LIGHTGLUE;
     feature_matcher_factory -->|*matcher_type*| LOFTR;
-
-    %% Single Matcher class
-    classDef singleMatcher fill:#f9f,stroke:#333,stroke-width:2px
-    class BfFeatureMatcher singleMatcher;
-    class FlannFeatureMatcher singleMatcher;
-    class XFeatMatcher singleMatcher;
-    class LightGlueMatcher singleMatcher;
-    class LoFTRMatcher singleMatcher;
-
+        
     BF -->|*creates*| BfFeatureMatcher;
     FLANN -->|*creates*| FlannFeatureMatcher;
     XFEAT -->|*creates*| XFeatMatcher;
@@ -40,14 +26,7 @@ graph LR;
     LightGlueMatcher -->|*_is-a_*| FeatureMatcher;
     LoFTRMatcher -->|*_is-a_*| FeatureMatcher;
 
-    %% FeatureMatcher relationships
-    classDef featureMatcher fill:#f9f,stroke:#333,stroke-width:2px
-    class FeatureMatcher featureMatcher;
-    class Feature featureMatcher;
-    class Descriptor featureMatcher;
-    class DistanceMetric featureMatcher;
-    class RatioTest featureMatcher;
-
+    %% FeatureMatcher relationships    
     FeatureMatcher -->|*_has-a_*| matcher;    
     FeatureMatcher -->|*_has-a_*| matcher_type;
     FeatureMatcher -->|*_has-a_*| detector_type;
@@ -60,4 +39,40 @@ graph LR;
     matcher -->|*_is-a_*| cv2.FlannBasedMatcher;
     matcher -->|*_is-a_*| xfeat.XFeat;
     matcher -->|*_is-a_*| lightglue.LightGlue;
-    matcher -->|*_is-a_*| kornia.LoFTR;
+    matcher -->|*_is-a_*| kornia.LoFTR;
+
+    %% Single Matcher class
+    class BfFeatureMatcher singleMatcher;
+    class FlannFeatureMatcher singleMatcher;
+    class XFeatMatcher singleMatcher;
+    class LightGlueMatcher singleMatcher;
+    class LoFTRMatcher singleMatcher;
+
+    %% feature_matcher_factory
+    class feature_matcher_factory factory;
+
+    %% FeatureMatcher types
+    class BF matcher;
+    class FLANN matcher;
+    class XFEAT matcher;
+    class LIGHTGLUE matcher;
+    class LOFTR matcher;
+
+    class FeatureMatcher featureMatcher;
+    class Feature featureMatcher;
+    class Descriptor featureMatcher;
+    class DistanceMetric featureMatcher;
+    class RatioTest featureMatcher;
+
+    class matcher component;
+    class matcher_type component;
+    class detector_type component;
+    class descriptor_type component;
+    class ratio_test component;
+    class norm_type component;
+
+    class cv2.BFMatcher component;
+    class cv2.FlannBasedMatcher component;
+    class xfeat.XFeat component;
+    class lightglue.LightGlue component;
+    class kornia.LoFTR component;

docs/images/feature_tracker_mermaid.md

@@ -1,35 +1,20 @@
 graph LR;
     %% Set default styles for all edges
-    linkStyle default stroke:#0000FF,stroke-width:1px,font-size:10px;
+    linkStyle default stroke:#021526,stroke-width:1px,font-size:10px;
 
     %% feature_tracker_factory
-    classDef factory fill:#f9f,stroke:#333,stroke-width:2px
-    class feature_tracker_factory factory;
-
-    %% FeatureTracker types
-    classDef tracker fill:#f9f,stroke:#333,stroke-width:2px
-    class LK tracker;
-    class DES_BF tracker;
-    class DES_FLANN tracker;
-    class XFEAT tracker;
-    class LIGHTGLUE tracker;
-    class LOFTR tracker;
-
+    classDef factory fill:#,stroke:#6EACDA,stroke-width:1px
+    classDef tracker fill:#,stroke:#6EACDA,stroke-width:1px
+    classDef singleTracker fill:#,stroke:#6EACDA,stroke-width:1px
+    classDef featureTracker fill:#,stroke:#6EACDA,stroke-width:1px
+
     feature_tracker_factory -->|*tracker_type*| LK;
     feature_tracker_factory -->|*tracker_type*| DES_BF;
     feature_tracker_factory -->|*tracker_type*| DES_FLANN;
     feature_tracker_factory -->|*tracker_type*| XFEAT;
     feature_tracker_factory -->|*tracker_type*| LIGHTGLUE;
     feature_tracker_factory -->|*tracker_type*| LOFTR;
 
-    %% Single Tracker class
-    classDef singleTracker fill:#f9f,stroke:#333,stroke-width:2px
-    class LKFeatureTracker singleTracker;
-    class DescriptorFeatureTracker singleTracker;
-    class XFeatureTracker singleTracker;
-    class LightGlueFeatureTracker singleTracker;
-    class LoFTRFeatureTracker singleTracker;
-
     LK -->|*creates*| LKFeatureTracker;
     DES_BF -->|*creates*| DescriptorFeatureTracker;
     DES_FLANN -->|*creates*| DescriptorFeatureTracker;
@@ -43,16 +28,7 @@ graph LR;
     LightGlueFeatureTracker -->|*_is-a_*| FeatureTracker;
     LoFTRFeatureTracker -->|*_is-a_*| FeatureTracker;
 
-    %% FeatureTracker relationships
-    classDef featureTracker fill:#f9f,stroke:#333,stroke-width:2px
-    class FeatureTracker featureTracker;
-    class FeatureManager featureTracker;
-    class FeatureDetector featureTracker;
-    class FeatureDescriptor featureTracker;
-    class PyramidAdaptor featureTracker;
-    class BlockAdaptor featureTracker;
-    class FeatureMatcher featureTracker;
-
+    %% FeatureTracker relationships    
     FeatureTracker -->|*_has-a_*| FeatureManager;
     FeatureTracker -->|*_has-a_*| FeatureDetector;
     FeatureTracker -->|*_has-a_*| FeatureDescriptor;
@@ -65,3 +41,27 @@ graph LR;
     FeatureManager -->|*_has-a_*| FeatureDescriptor;
     FeatureManager -->|*_has-a_*| PyramidAdaptor;
     FeatureManager -->|*_has-a_*| BlockAdaptor;
+
+
+    class feature_tracker_factory factory;
+
+    class FeatureTracker featureTracker;
+    class FeatureManager featureTracker;
+    class FeatureDetector featureTracker;
+    class FeatureDescriptor featureTracker;
+    class PyramidAdaptor featureTracker;
+    class BlockAdaptor featureTracker;
+    class FeatureMatcher featureTracker;
+
+    class LKFeatureTracker singleTracker;
+    class DescriptorFeatureTracker singleTracker;
+    class XFeatureTracker singleTracker;
+    class LightGlueFeatureTracker singleTracker;
+    class LoFTRFeatureTracker singleTracker;
+
+    class LK tracker;
+    class DES_BF tracker;
+    class DES_FLANN tracker;
+    class XFEAT tracker;
+    class LIGHTGLUE tracker;
+    class LOFTR tracker;

docs/images/loop_detector_mermaid.md

@@ -1,24 +1,11 @@
 graph LR;
     %% Set default styles for all edges
-    linkStyle default stroke:#0000FF,stroke-width:1px,font-size:10px;
+    linkStyle default stroke:#021526,stroke-width:1px,font-size:10px;
 
-    %% loop_detector_factory
-    classDef factory fill:#f9f,stroke:#333,stroke-width:2px;
-    class loop_detector_factory factory;
-
-    %% Global Descriptor Types
-    classDef descriptor fill:#f9f,stroke:#333,stroke-width:2px;
-    class DBOW2 descriptor;
-    class DBOW3 descriptor;
-    class VLAD descriptor;
-    class OBINDEX2 descriptor;
-    class IBOW descriptor;
-    class HDC_DELF descriptor;
-    class SAD descriptor;
-    class ALEXNET descriptor;
-    class NETVLAD descriptor;
-    class COSPLACE descriptor;
-    class EIGENPLACES descriptor;
+    classDef factory fill:#,stroke:#6EACDA,stroke-width:1px;
+    classDef descriptor fill:#,stroke:#6EACDA,stroke-width:1px;
+    classDef loopDetectorBase fill:#,stroke:#6EACDA,stroke-width:1px;
+    classDef loopDetectorVprBase fill:#,stroke:#6EACDA,stroke-width:1px;
 
     loop_detector_factory -->|*global_descriptor_type*| DBOW2;
     loop_detector_factory -->|*global_descriptor_type*| DBOW3;
@@ -32,12 +19,6 @@ graph LR;
     loop_detector_factory -->|*global_descriptor_type*| COSPLACE;
     loop_detector_factory -->|*global_descriptor_type*| EIGENPLACES;
 
-    %% LoopDetectorBase hierarchy
-    classDef loopDetectorBase fill:#f9f,stroke:#333,stroke-width:2px;
-    classDef loopDetectorVprBase fill:#ddf,stroke:#333,stroke-width:2px;
-    class LoopDetectorBase loopDetectorBase;
-    class LoopDetectorVprBase loopDetectorVprBase;
-
     DBOW2 -->|*creates*| LoopDetectorDBoW2;
     DBOW3 -->|*creates*| LoopDetectorDBoW3;
     VLAD -->|*creates*| LoopDetectorVlad;
@@ -66,3 +47,36 @@ graph LR;
     LoopDetectorEigenPlaces -->|*_is-a_*| LoopDetectorVprBase;
 
     LoopDetectorVprBase -->|*_is-a_*| LoopDetectorBase;
+
+    %% loop_detector_factory
+    class loop_detector_factory factory;
+
+    %% Global Descriptor Types
+    class DBOW2 descriptor;
+    class DBOW3 descriptor;
+    class VLAD descriptor;
+    class OBINDEX2 descriptor;
+    class IBOW descriptor;
+    class HDC_DELF descriptor;
+    class SAD descriptor;
+    class ALEXNET descriptor;
+    class NETVLAD descriptor;
+    class COSPLACE descriptor;
+    class EIGENPLACES descriptor;
+
+    %% LoopDetectorBase hierarchy
+    class LoopDetectorBase loopDetectorBase;
+    class LoopDetectorVprBase loopDetectorVprBase;
+
+    class LoopDetectorDBoW2 loopDetectorBase;
+    class LoopDetectorDBoW3 loopDetectorBase; 
+    class LoopDetectorVlad loopDetectorBase; 
+    class LoopDetectorOBIndex2 loopDetectorBase; 
+    class LoopDetectorIBow loopDetectorBase; 
+
+    class LoopDetectorHdcDelf loopDetectorBase; 
+    class LoopDetectorSad loopDetectorBase; 
+    class LoopDetectorAlexNet loopDetectorBase; 
+    class LoopDetectorNetVLAD loopDetectorBase; 
+    class LoopDetectorCosPlace loopDetectorBase; 
+    class LoopDetectorEigenPlaces loopDetectorBase;