Classes | Public Member Functions | Protected Member Functions | Static Protected Member Functions | Protected Attributes
MapMaker Class Reference

#include <MapMaker.h>

List of all members.

Classes

struct  Command

Public Member Functions

void AddKeyFrame (KeyFrame::Ptr k)
void ApplyGlobalScaleToMap (double dScale)
void ApplyGlobalTransformationToMap (SE3<> se3NewFromOld)
KeyFrame::Ptr ClosestKeyFrame (KeyFrame::Ptr k)
std::string getMessageForUser ()
bool InitFromStereo (KeyFrame::Ptr kFirst, KeyFrame::Ptr kSecond, std::vector< std::pair< CVD::ImageRef, CVD::ImageRef > > &vMatches, SE3<> &se3CameraPos)
bool InitFromStereo_OLD (KeyFrame::Ptr kFirst, KeyFrame::Ptr kSecond, std::vector< std::pair< CVD::ImageRef, CVD::ImageRef > > &vMatches, SE3<> &se3CameraPos)
bool IsDistanceToNearestKeyFrameExcessive (KeyFrame::Ptr kCurrent)
 MapMaker (Map &m, const ATANCamera &cam, ros::NodeHandle &nh)
std::vector< KeyFrame::PtrNClosestKeyFrames (KeyFrame::Ptr k, unsigned int N)
bool NeedNewKeyFrame (KeyFrame::Ptr kCurrent)
int QueueSize ()
void RequestReset ()
bool ResetDone ()
void resetMessageForUser ()
 ~MapMaker ()

Protected Member Functions

void AddKeyFrameFromTopOfQueue ()
bool AddPointEpipolar (KeyFrame::Ptr kSrc, KeyFrame::Ptr kTarget, int nLevel, int nCandidate)
bool AddSomeMapPoints (int nLevel)
void BundleAdjust (std::set< KeyFrame::Ptr >, std::set< KeyFrame::Ptr >, std::set< boost::shared_ptr< MapPoint > >, bool)
void BundleAdjustAll ()
void BundleAdjustRecent ()
SE3 CalcPlaneAligner ()
double DistToNearestKeyFrame (KeyFrame::Ptr kCurrent)
void GUICommandHandler (std::string sCommand, std::string sParams)
void HandleBadPoints ()
double KeyFrameLinearDist (KeyFrame::Ptr k1, KeyFrame::Ptr k2)
bool ReFind_Common (KeyFrame::Ptr k, boost::shared_ptr< MapPoint > p)
void ReFindAll ()
void ReFindFromFailureQueue ()
int ReFindInSingleKeyFrame (KeyFrame::Ptr k)
void ReFindNewlyMade ()
bool RefreshSceneDepth (KeyFrame::Ptr pKF)
Vector< 3 > ReprojectPoint (SE3<> se3AfromB, const Vector< 2 > &v2A, const Vector< 2 > &v2B)
void Reset ()
virtual void run ()
void SubPixelRefineMatches (KeyFrame::Ptr k, int nLevel)
void ThinCandidates (KeyFrame::Ptr 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
MapmMap
std::ostringstream mMessageForUser
std::queue< boost::shared_ptr
< MapPoint > > 
mqNewQueue
std::vector< std::pair
< KeyFrame::Ptr,
boost::shared_ptr< MapPoint > > > 
mvFailureQueue
std::vector< KeyFrame::PtrmvpKeyFrameQueue
std::vector< CommandmvQueuedCommands
OctoMapInterface octomap_interface

Detailed Description

Definition at line 42 of file MapMaker.h.


Constructor & Destructor Documentation

MapMaker::MapMaker ( Map m,
const ATANCamera cam,
ros::NodeHandle nh 
)

Definition at line 39 of file MapMaker.cc.

Definition at line 208 of file MapMaker.cc.


Member Function Documentation

Definition at line 586 of file MapMaker.cc.

Definition at line 595 of file MapMaker.cc.

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

Definition at line 679 of file MapMaker.cc.

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

Definition at line 537 of file MapMaker.cc.

void MapMaker::ApplyGlobalScaleToMap ( double  dScale)

Definition at line 568 of file MapMaker.cc.

void MapMaker::ApplyGlobalTransformationToMap ( SE3<>  se3NewFromOld)

Definition at line 553 of file MapMaker.cc.

void MapMaker::BundleAdjust ( std::set< KeyFrame::Ptr ,
std::set< KeyFrame::Ptr ,
std::set< boost::shared_ptr< MapPoint > >  ,
bool   
) [protected]

Definition at line 1030 of file MapMaker.cc.

void MapMaker::BundleAdjustAll ( ) [protected]

Definition at line 949 of file MapMaker.cc.

void MapMaker::BundleAdjustRecent ( ) [protected]

Definition at line 970 of file MapMaker.cc.

SE3 MapMaker::CalcPlaneAligner ( ) [protected]

Definition at line 1323 of file MapMaker.cc.

Definition at line 880 of file MapMaker.cc.

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

Definition at line 899 of file MapMaker.cc.

std::string MapMaker::getMessageForUser ( ) [inline]

Definition at line 65 of file MapMaker.h.

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

Definition at line 1457 of file MapMaker.cc.

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

Definition at line 1465 of file MapMaker.cc.

void MapMaker::HandleBadPoints ( ) [protected]

Definition at line 154 of file MapMaker.cc.

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

Definition at line 242 of file MapMaker.cc.

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

Definition at line 1317 of file MapMaker.cc.

double MapMaker::KeyFrameLinearDist ( KeyFrame::Ptr  k1,
KeyFrame::Ptr  k2 
) [protected]

Definition at line 851 of file MapMaker.cc.

vector< KeyFrame::Ptr > MapMaker::NClosestKeyFrames ( KeyFrame::Ptr  k,
unsigned int  N 
)

Definition at line 860 of file MapMaker.cc.

Definition at line 906 of file MapMaker.cc.

int MapMaker::QueueSize ( ) [inline]

Definition at line 61 of file MapMaker.h.

bool MapMaker::ReFind_Common ( KeyFrame::Ptr  k,
boost::shared_ptr< MapPoint p 
) [protected]

Definition at line 1175 of file MapMaker.cc.

void MapMaker::ReFindAll ( ) [protected]
void MapMaker::ReFindFromFailureQueue ( ) [protected]

Definition at line 1302 of file MapMaker.cc.

Definition at line 1263 of file MapMaker.cc.

void MapMaker::ReFindNewlyMade ( ) [protected]

Definition at line 1280 of file MapMaker.cc.

bool MapMaker::RefreshSceneDepth ( KeyFrame::Ptr  pKF) [protected]

Definition at line 1434 of file MapMaker.cc.

Vector< 3 > MapMaker::ReprojectPoint ( SE3<>  se3AfromB,
const Vector< 2 > &  v2A,
const Vector< 2 > &  v2B 
) [protected]

Definition at line 219 of file MapMaker.cc.

Definition at line 141 of file MapMaker.cc.

void MapMaker::Reset ( ) [protected]

Definition at line 50 of file MapMaker.cc.

Definition at line 147 of file MapMaker.cc.

void MapMaker::resetMessageForUser ( ) [inline]

Definition at line 66 of file MapMaker.h.

void MapMaker::run ( ) [protected, virtual]

Definition at line 70 of file MapMaker.cc.

void MapMaker::SubPixelRefineMatches ( KeyFrame::Ptr  k,
int  nLevel 
) [protected]
void MapMaker::ThinCandidates ( KeyFrame::Ptr  k,
int  nLevel 
) [protected]

Definition at line 499 of file MapMaker.cc.


Member Data Documentation

Definition at line 141 of file MapMaker.h.

Definition at line 135 of file MapMaker.h.

Definition at line 136 of file MapMaker.h.

bool MapMaker::mbBundleRunning [protected]

Definition at line 142 of file MapMaker.h.

Definition at line 143 of file MapMaker.h.

bool MapMaker::mbResetDone [protected]

Definition at line 140 of file MapMaker.h.

bool MapMaker::mbResetRequested [protected]

Definition at line 139 of file MapMaker.h.

Definition at line 78 of file MapMaker.h.

double MapMaker::mdWiggleScale [protected]

Definition at line 129 of file MapMaker.h.

Definition at line 132 of file MapMaker.h.

Map& MapMaker::mMap [protected]

Definition at line 77 of file MapMaker.h.

std::ostringstream MapMaker::mMessageForUser [protected]

Definition at line 146 of file MapMaker.h.

std::queue<boost::shared_ptr<MapPoint> > MapMaker::mqNewQueue [protected]

Definition at line 127 of file MapMaker.h.

std::vector<std::pair<KeyFrame::Ptr, boost::shared_ptr<MapPoint> > > MapMaker::mvFailureQueue [protected]

Definition at line 126 of file MapMaker.h.

std::vector<KeyFrame::Ptr> MapMaker::mvpKeyFrameQueue [protected]

Definition at line 125 of file MapMaker.h.

std::vector<Command> MapMaker::mvQueuedCommands [protected]

Definition at line 121 of file MapMaker.h.

Definition at line 82 of file MapMaker.h.


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


ptam
Author(s): Stephan Weiss, Markus Achtelik, Simon Lynen
autogenerated on Tue Jan 7 2014 11:12:22