35 {
return sMeasurementKFs.size(); }
47 std::vector<std::pair<CVD::ImageRef, CVD::ImageRef> > &vMatches,
51 std::vector<std::pair<CVD::ImageRef, CVD::ImageRef> > &vMatches,
83 void BundleAdjust(std::set<KeyFrame*>, std::set<KeyFrame*>, std::set<MapPoint*>,
bool);
bool mbBundleConverged_Recent
KeyFrame * ClosestKeyFrame(KeyFrame &k)
bool IsDistanceToNearestKeyFrameExcessive(KeyFrame &kCurrent)
void GUICommandHandler(std::string sCommand, std::string sParams)
std::queue< MapPoint * > mqNewQueue
Vector< 3 > ReprojectPoint(SE3<> se3AfromB, const Vector< 2 > &v2A, const Vector< 2 > &v2B)
void SubPixelRefineMatches(KeyFrame &k, int nLevel)
void AddSomeMapPoints(int nLevel)
std::vector< KeyFrame * > NClosestKeyFrames(KeyFrame &k, unsigned int N)
std::vector< Command > mvQueuedCommands
int counterForConvergenceLimit
bool AddPointEpipolar(KeyFrame &kSrc, KeyFrame &kTarget, int nLevel, int nCandidate)
void SetSendMessageToUnity(SendMessage sm)
SendMessage sendStringToUnity
bool NeedNewKeyFrame(KeyFrame &kCurrent)
bool ReFind_Common(KeyFrame &k, MapPoint &p)
void AddKeyFrame(KeyFrame &k)
double mdWiggleScaleDepthNormalized
bool mbBundleRunningIsRecent
virtual void run()
Override this method to do whatever it is the thread should do.
MapMaker(Map &m, const ATANCamera &cam)
void BundleAdjustRecent()
void ApplyGlobalTransformationToMap(SE3<> se3NewFromOld)
void ReFindFromFailureQueue()
std::vector< std::pair< KeyFrame *, MapPoint * > > mvFailureQueue
bool InitFromStereo(KeyFrame &kFirst, KeyFrame &kSecond, std::vector< std::pair< CVD::ImageRef, CVD::ImageRef > > &vMatches, SE3<> &se3CameraPos)
std::set< KeyFrame * > sMeasurementKFs
int ReFindInSingleKeyFrame(KeyFrame &k)
bool mbBundleConverged_Full
bool mbBundleAbortRequested
double DistToNearestKeyFrame(KeyFrame &kCurrent)
void ThinCandidates(KeyFrame &k, int nLevel)
void RefreshSceneDepth(KeyFrame *pKF)
static void GUICommandCallBack(void *ptr, std::string sCommand, std::string sParams)
bool InitFromStereo_OLD(KeyFrame &kFirst, KeyFrame &kSecond, std::vector< std::pair< CVD::ImageRef, CVD::ImageRef > > &vMatches, SE3<> &se3CameraPos)
std::vector< KeyFrame * > mvpKeyFrameQueue
void AddKeyFrameFromTopOfQueue()
void ApplyGlobalScaleToMap(double dScale)
int counterForConvergence
double KeyFrameLinearDist(KeyFrame &k1, KeyFrame &k2)
std::set< KeyFrame * > sNeverRetryKFs
void BundleAdjust(std::set< KeyFrame * >, std::set< KeyFrame * >, std::set< MapPoint * >, bool)