#include <MapMaker.h>

Inheritance diagram for MapMaker:

Classes
struct	Command

Public Member Functions
	MapMaker (Map &m, const ATANCamera &cam)

	~MapMaker ()

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

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

void	AddKeyFrame (KeyFrame &k)

void	RequestReset ()

bool	ResetDone ()

int	QueueSize ()

bool	NeedNewKeyFrame (KeyFrame &kCurrent)

bool	IsDistanceToNearestKeyFrameExcessive (KeyFrame &kCurrent)

void	SetSendMessageToUnity (SendMessage sm)

Protected Member Functions
virtual void	run ()
	Override this method to do whatever it is the thread should do. More...

SE3	CalcPlaneAligner ()

void	ApplyGlobalTransformationToMap (SE3<> se3NewFromOld)

void	ApplyGlobalScaleToMap (double dScale)

void	AddKeyFrameFromTopOfQueue ()

void	ThinCandidates (KeyFrame &k, int nLevel)

void	AddSomeMapPoints (int nLevel)

bool	AddPointEpipolar (KeyFrame &kSrc, KeyFrame &kTarget, int nLevel, int nCandidate)

Vector< 3 >	ReprojectPoint (SE3<> se3AfromB, const Vector< 2 > &v2A, const Vector< 2 > &v2B)

void	BundleAdjust (std::set< KeyFrame * >, std::set< KeyFrame * >, std::set< MapPoint * >, bool)

void	BundleAdjustAll ()

void	BundleAdjustRecent ()

int	ReFindInSingleKeyFrame (KeyFrame &k)

void	ReFindFromFailureQueue ()

void	ReFindNewlyMade ()

void	ReFindAll ()

bool	ReFind_Common (KeyFrame &k, MapPoint &p)

void	SubPixelRefineMatches (KeyFrame &k, int nLevel)

void	Reset ()

void	HandleBadPoints ()

double	DistToNearestKeyFrame (KeyFrame &kCurrent)

double	KeyFrameLinearDist (KeyFrame &k1, KeyFrame &k2)

KeyFrame *	ClosestKeyFrame (KeyFrame &k)

std::vector< KeyFrame * >	NClosestKeyFrames (KeyFrame &k, unsigned int N)

void	RefreshSceneDepth (KeyFrame *pKF)

void	GUICommandHandler (std::string sCommand, std::string sParams)

Protected Member Functions inherited from CVD::Thread
	Thread ()
	Construct a thread. If runnable != 0, use that runnable, else use our own "run" method. More...

virtual	~Thread ()
	This does not destroy the object until the thread has been terminated. More...

void	start (Runnable *runnable=0)
	Start execution of "run" method in separate thread. More...

void	stop ()
	Tell the thread to stop. More...

bool	shouldStop () const
	Returns true if the stop() method been called, false otherwise. More...

bool	isRunning () const
	Returns true if the thread is still running. More...

void	join ()
	This blocks until the thread has actually terminated. More...

pthread_t	getID ()
	Get the ID of this thread. More...

Protected Member Functions inherited from CVD::Runnable
virtual	~Runnable ()

Static Protected Member Functions
static void	GUICommandCallBack (void *ptr, std::string sCommand, std::string sParams)

Static Protected Member Functions inherited from CVD::Thread
static unsigned int	count ()
	Returns how many threads are actually running, not including the main thread. More...

static Thread *	getCurrent ()
	Returns a pointer to the currently running thread. More...

static void	sleep (unsigned int milli)
	Tell the current thread to sleep for milli milliseconds. More...

static void	yield ()
	Tell the current thread to yield the processor. More...

Protected Attributes
Map &	mMap

ATANCamera	mCamera

std::vector< Command >	mvQueuedCommands

std::vector< KeyFrame * >	mvpKeyFrameQueue

std::vector< std::pair< KeyFrame , MapPoint > >	mvFailureQueue

std::queue< MapPoint * >	mqNewQueue

double	mdWiggleScale

double	mgvdWiggleScale

double	mdWiggleScaleDepthNormalized

bool	mbBundleConverged_Full

bool	mbBundleConverged_Recent

bool	mbResetRequested

bool	mbResetDone

bool	mbBundleAbortRequested

bool	mbBundleRunning

bool	mbBundleRunningIsRecent

SendMessage	sendStringToUnity

int	counterForConvergence

int	counterForConvergenceLimit

Detailed Description

Definition at line 39 of file MapMaker.h.

Constructor & Destructor Documentation

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

Definition at line 29 of file MapMaker.cpp.

MapMaker::~MapMaker ( )

Definition at line 160 of file MapMaker.cpp.

Member Function Documentation

void MapMaker::AddKeyFrame ( KeyFrame & k )

Definition at line 453 of file MapMaker.cpp.

void MapMaker::AddKeyFrameFromTopOfQueue ( )

protected

Definition at line 464 of file MapMaker.cpp.

bool MapMaker::AddPointEpipolar	(	KeyFrame &	kSrc,
		KeyFrame &	kTarget,
		int	nLevel,
		int	nCandidate
	)

protected

Definition at line 497 of file MapMaker.cpp.

void MapMaker::AddSomeMapPoints ( int nLevel )

protected

Definition at line 407 of file MapMaker.cpp.

void MapMaker::ApplyGlobalScaleToMap ( double dScale )

protected

Definition at line 435 of file MapMaker.cpp.

void MapMaker::ApplyGlobalTransformationToMap ( SE3<> se3NewFromOld )

protected

Definition at line 420 of file MapMaker.cpp.

void MapMaker::BundleAdjust	(	std::set< KeyFrame * >	,
		std::set< KeyFrame * >	,
		std::set< MapPoint * >	,
		bool
	)

protected

Definition at line 789 of file MapMaker.cpp.

void MapMaker::BundleAdjustAll ( )

protected

Definition at line 718 of file MapMaker.cpp.

void MapMaker::BundleAdjustRecent ( )

protected

Definition at line 739 of file MapMaker.cpp.

SE3 MapMaker::CalcPlaneAligner ( )

protected

Definition at line 1052 of file MapMaker.cpp.

KeyFrame * MapMaker::ClosestKeyFrame ( KeyFrame & k )

protected

Definition at line 680 of file MapMaker.cpp.

double MapMaker::DistToNearestKeyFrame ( KeyFrame & kCurrent )

protected

Definition at line 699 of file MapMaker.cpp.

void MapMaker::GUICommandCallBack	(	void *	ptr,
		std::string	sCommand,
		std::string	sParams
	)

staticprotected

Definition at line 1178 of file MapMaker.cpp.

void MapMaker::GUICommandHandler	(	std::string	sCommand,
		std::string	sParams
	)

protected

Definition at line 1186 of file MapMaker.cpp.

void MapMaker::HandleBadPoints ( )

protected

Definition at line 133 of file MapMaker.cpp.

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

Definition at line 196 of file MapMaker.cpp.

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

bool MapMaker::IsDistanceToNearestKeyFrameExcessive ( KeyFrame & kCurrent )

Definition at line 1046 of file MapMaker.cpp.

double MapMaker::KeyFrameLinearDist	(	KeyFrame &	k1,
		KeyFrame &	k2
	)

protected

Definition at line 651 of file MapMaker.cpp.

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

protected

Definition at line 660 of file MapMaker.cpp.

bool MapMaker::NeedNewKeyFrame ( KeyFrame & kCurrent )

Definition at line 706 of file MapMaker.cpp.

int MapMaker::QueueSize ( )

inline

Definition at line 58 of file MapMaker.h.

bool MapMaker::ReFind_Common	(	KeyFrame &	k,
		MapPoint &	p
	)

protected

Definition at line 911 of file MapMaker.cpp.

void MapMaker::ReFindAll ( )

protected

void MapMaker::ReFindFromFailureQueue ( )

protected

Definition at line 1031 of file MapMaker.cpp.

int MapMaker::ReFindInSingleKeyFrame ( KeyFrame & k )

protected

Definition at line 992 of file MapMaker.cpp.

void MapMaker::ReFindNewlyMade ( )

protected

Definition at line 1009 of file MapMaker.cpp.

void MapMaker::RefreshSceneDepth ( KeyFrame * pKF )

protected

Definition at line 1159 of file MapMaker.cpp.

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

protected

Definition at line 173 of file MapMaker.cpp.

void MapMaker::RequestReset ( )

Definition at line 120 of file MapMaker.cpp.

void MapMaker::Reset ( )

protected

Definition at line 38 of file MapMaker.cpp.

bool MapMaker::ResetDone ( )

Definition at line 126 of file MapMaker.cpp.

void MapMaker::run ( )

protectedvirtual

Override this method to do whatever it is the thread should do.

Reimplemented from CVD::Thread.

Definition at line 66 of file MapMaker.cpp.

void MapMaker::SetSendMessageToUnity ( SendMessage sm )

Definition at line 56 of file MapMaker.cpp.

void MapMaker::SubPixelRefineMatches	(	KeyFrame &	k,
		int	nLevel
	)

protected

void MapMaker::ThinCandidates	(	KeyFrame &	k,
		int	nLevel
	)

protected

Definition at line 369 of file MapMaker.cpp.

Member Data Documentation

int MapMaker::counterForConvergence

protected

Definition at line 135 of file MapMaker.h.

int MapMaker::counterForConvergenceLimit

protected

Definition at line 136 of file MapMaker.h.

bool MapMaker::mbBundleAbortRequested

protected

Definition at line 129 of file MapMaker.h.

bool MapMaker::mbBundleConverged_Full

protected

Definition at line 123 of file MapMaker.h.

bool MapMaker::mbBundleConverged_Recent

protected

Definition at line 124 of file MapMaker.h.

bool MapMaker::mbBundleRunning

protected

Definition at line 130 of file MapMaker.h.

bool MapMaker::mbBundleRunningIsRecent

protected

Definition at line 131 of file MapMaker.h.

bool MapMaker::mbResetDone

protected

Definition at line 128 of file MapMaker.h.

bool MapMaker::mbResetRequested

protected

Definition at line 127 of file MapMaker.h.

ATANCamera MapMaker::mCamera

protected

Definition at line 66 of file MapMaker.h.

double MapMaker::mdWiggleScale

protected

Definition at line 117 of file MapMaker.h.

double MapMaker::mdWiggleScaleDepthNormalized

protected

Definition at line 120 of file MapMaker.h.

double MapMaker::mgvdWiggleScale

protected

Definition at line 119 of file MapMaker.h.

Map& MapMaker::mMap

protected

Definition at line 65 of file MapMaker.h.

std::queue<MapPoint*> MapMaker::mqNewQueue

protected

Definition at line 115 of file MapMaker.h.

std::vector<std::pair<KeyFrame*, MapPoint*> > MapMaker::mvFailureQueue

protected

Definition at line 114 of file MapMaker.h.

std::vector<KeyFrame*> MapMaker::mvpKeyFrameQueue

protected

Definition at line 113 of file MapMaker.h.

std::vector<Command> MapMaker::mvQueuedCommands

protected

Definition at line 109 of file MapMaker.h.

SendMessage MapMaker::sendStringToUnity

protected

Definition at line 134 of file MapMaker.h.

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

libSLAMflex - android project/jni/MapMaker.h
libSLAMflex - android project/jni/MapMaker.cpp

Classes

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation