#include <MapMaker.h>

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::Ptr >	NClosestKeyFrames (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
Map &	mMap
std::ostringstream	mMessageForUser
std::queue< boost::shared_ptr < MapPoint > >	mqNewQueue
std::vector< std::pair < KeyFrame::Ptr, boost::shared_ptr< MapPoint > > >	mvFailureQueue
std::vector< KeyFrame::Ptr >	mvpKeyFrameQueue
std::vector< Command >	mvQueuedCommands
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.

MapMaker::~MapMaker ( )

Definition at line 208 of file MapMaker.cc.

Member Function Documentation

void MapMaker::AddKeyFrame ( KeyFrame::Ptr k )

Definition at line 586 of file MapMaker.cc.

void MapMaker::AddKeyFrameFromTopOfQueue ( ) [protected]

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.

KeyFrame::Ptr MapMaker::ClosestKeyFrame ( KeyFrame::Ptr k )

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
	)