#include <MapMaker.h>

Classes
struct	Command
Public Member Functions
void	AddKeyFrame (KeyFrame &k)
bool	InitFromStereo (KeyFrame &kFirst, KeyFrame &kSecond, std::vector< std::pair< CVD::ImageRef, CVD::ImageRef > > &vMatches, SE3<> &se3CameraPos, SE3<> KFZeroDesiredCamFromWorld, SE3<> KFOneDesiredCamFromWorld)
bool	InitFromStereo_OLD (KeyFrame &kFirst, KeyFrame &kSecond, std::vector< std::pair< CVD::ImageRef, CVD::ImageRef > > &vMatches, SE3<> &se3CameraPos)
bool	IsDistanceToNearestKeyFrameExcessive (KeyFrame &kCurrent)
	MapMaker (Map &m, const ATANCamera &cam)
bool	NeedNewKeyFrame (KeyFrame &kCurrent)
int	QueueSize ()
void	RequestReset ()
bool	ResetDone ()
	~MapMaker ()
Public Attributes
double	currentScaleFactor
double	initialScaleFactor
double	lastMetricDist
double	lastWiggleDist
double	minKFDist
double	minKFWiggleDist
Protected Member Functions
void	AddKeyFrameFromTopOfQueue ()
bool	AddPointEpipolar (KeyFrame &kSrc, KeyFrame &kTarget, int nLevel, int nCandidate)
void	AddSomeMapPoints (int nLevel)
void	ApplyGlobalScaleToMap (double dScale)
void	ApplyGlobalTransformationToMap (SE3<> se3NewFromOld)
void	BundleAdjust (std::set< KeyFrame * >, std::set< KeyFrame * >, std::set< MapPoint * >, bool)
void	BundleAdjustAll ()
void	BundleAdjustRecent ()
SE3	CalcPlaneAligner ()
KeyFrame *	ClosestKeyFrame (KeyFrame &k)
double	DistToNearestKeyFrame (KeyFrame &kCurrent)
void	GUICommandHandler (std::string sCommand, std::string sParams)
void	HandleBadPoints ()
double	KeyFrameLinearDist (KeyFrame &k1, KeyFrame &k2)
std::vector< KeyFrame * >	NClosestKeyFrames (KeyFrame &k, unsigned int N)
bool	ReFind_Common (KeyFrame &k, MapPoint &p)
void	ReFindAll ()
void	ReFindFromFailureQueue ()
int	ReFindInSingleKeyFrame (KeyFrame &k)
void	ReFindNewlyMade ()
void	RefreshSceneDepth (KeyFrame *pKF)
Vector< 3 >	ReprojectPoint (SE3<> se3AfromB, const Vector< 2 > &v2A, const Vector< 2 > &v2B)
void	Reset ()
virtual void	run ()
void	SubPixelRefineMatches (KeyFrame &k, int nLevel)
void	ThinCandidates (KeyFrame &k, int nLevel)
Static Protected Member Functions
static void	GUICommandCallBack (void *ptr, std::string sCommand, std::string sParams)
Protected Attributes
bool	mbBundleAbortRequested
bool	mbBundleConverged_Full
bool	mbBundleConverged_Recent
bool	mbBundleRunning
bool	mbBundleRunningIsRecent
bool	mbResetDone
bool	mbResetRequested
ATANCamera	mCamera
double	mdWiggleScale
double	mdWiggleScaleDepthNormalized
GVars3::gvar3< double >	mgvdWiggleScale
Map &	mMap
std::queue< MapPoint * >	mqNewQueue
std::vector< std::pair < KeyFrame , MapPoint > >	mvFailureQueue
std::vector< KeyFrame * >	mvpKeyFrameQueue
std::vector< Command >	mvQueuedCommands

Detailed Description

Definition at line 38 of file MapMaker.h.

Constructor & Destructor Documentation

MapMaker::MapMaker	(	Map &	m,
		const ATANCamera &	cam
	)

Definition at line 33 of file MapMaker.cc.

MapMaker::~MapMaker ( )

Definition at line 164 of file MapMaker.cc.

Member Function Documentation

void MapMaker::AddKeyFrame ( KeyFrame & k )

Definition at line 497 of file MapMaker.cc.

void MapMaker::AddKeyFrameFromTopOfQueue ( ) [protected]

Definition at line 508 of file MapMaker.cc.

bool MapMaker::AddPointEpipolar	(	KeyFrame &	kSrc,
		KeyFrame &	kTarget,
		int	nLevel,
		int	nCandidate
	)		`[protected]`

Definition at line 541 of file MapMaker.cc.

void MapMaker::AddSomeMapPoints ( int nLevel ) [protected]

Definition at line 444 of file MapMaker.cc.

void MapMaker::ApplyGlobalScaleToMap ( double dScale ) [protected]

Definition at line 472 of file MapMaker.cc.

void MapMaker::ApplyGlobalTransformationToMap ( SE3<> se3NewFromOld ) [protected]

Definition at line 457 of file MapMaker.cc.

void MapMaker::BundleAdjust	(	std::set< KeyFrame * >	,
		std::set< KeyFrame * >	,
		std::set< MapPoint * >	,
		bool
	)		`[protected]`

Definition at line 837 of file MapMaker.cc.

void MapMaker::BundleAdjustAll ( ) [protected]

Definition at line 766 of file MapMaker.cc.

void MapMaker::BundleAdjustRecent ( ) [protected]

Definition at line 787 of file MapMaker.cc.

SE3 MapMaker::CalcPlaneAligner ( ) [protected]

Definition at line 1100 of file MapMaker.cc.

KeyFrame * MapMaker::ClosestKeyFrame ( KeyFrame & k ) [protected]

Definition at line 724 of file MapMaker.cc.

double MapMaker::DistToNearestKeyFrame ( KeyFrame & kCurrent ) [protected]

Definition at line 743 of file MapMaker.cc.

void MapMaker::GUICommandCallBack	(	void *	ptr,
		std::string	sCommand,
		std::string	sParams
	)		`[static, protected]`

Definition at line 1226 of file MapMaker.cc.

void MapMaker::GUICommandHandler	(	std::string	sCommand,
		std::string	sParams
	)		`[protected]`

Definition at line 1234 of file MapMaker.cc.

void MapMaker::HandleBadPoints ( ) [protected]

Definition at line 137 of file MapMaker.cc.

bool MapMaker::InitFromStereo	(	KeyFrame &	kFirst,
		KeyFrame &	kSecond,
		std::vector< std::pair< CVD::ImageRef, CVD::ImageRef > > &	vMatches,
		SE3<> &	se3CameraPos,
		SE3<>	KFZeroDesiredCamFromWorld,
		SE3<>	KFOneDesiredCamFromWorld
	)

Definition at line 198 of file MapMaker.cc.

bool MapMaker::InitFromStereo_OLD	(	KeyFrame &	kFirst,
		KeyFrame &	kSecond,
		std::vector< std::pair< CVD::ImageRef, CVD::ImageRef > > &	vMatches,
		SE3<> &	se3CameraPos
	)