EasyMVS
simple 3D reconstruction framework
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Public Types | |
using | Ptr = std::shared_ptr< GlobalMapObject > |
shared pointer of GlobalMapObject | |
Public Types inherited from DataFlowObject | |
using | Ptr = std::shared_ptr< DataFlowObject > |
the shared pointer type of DataFlowObject | |
Public Member Functions | |
GlobalMapObject () | |
Construct a new Global Map Object object. | |
~GlobalMapObject () | |
Destroy the Global Map Object object. | |
bool | addFrameObject (FrameObject::Ptr frame) |
add frame to global map. | |
bool | removeFrameObject (int ID) |
bool | removeAllFrameObject () |
bool | updateFrameObject (FrameObject::Ptr frame) |
FrameObject::Ptr | getFrameObject (int ID) |
bool | getAllFrameObjectID (std::set< int > &IDs) |
int | getFrameSize () |
bool | addMapPoint (MapPointObject::Ptr mappoint) |
add map point to global map. | |
bool | updateMapPoint (MapPointObject::Ptr mappoint) |
bool | removeMapPoint (int ID) |
bool | removeAllMapPoint () |
MapPointObject::Ptr | getMapPoint (int ID) |
bool | getAllMapPointID (std::set< int > &ID) |
int | getMappointSize () |
int | AssignMapID (int FrameID) |
int | AssignMappointID () |
bool | getMaps (std::set< std::map< int, FrameObject > > &Frames, std::set< std::map< int, MapPointObject > > &MapPoint) |
get all related frame as a whole map, return different map frames, and Map Points. More... | |
bool | save (JsonNode &fs) override |
save data and settings to file More... | |
bool | load (JsonNode &fs) override |
load data and settings from file More... | |
virtual std::string | type_name () override |
get the typename. More... | |
Public Member Functions inherited from DataFlowObject | |
DataFlowObject () | |
Construct a new Data Flow Object object. | |
virtual | ~DataFlowObject () |
Destroy the Data Flow Object object. | |
Public Member Functions inherited from MVSObject | |
MVSObject () | |
Construct a new MVSObject object. | |
virtual | ~MVSObject () |
Destroy the MVSObject object. | |
virtual bool | save (JsonNode &fs)=0 |
save data and settings to file More... | |
virtual bool | load (JsonNode &fs)=0 |
load data and settings from file More... | |
virtual std::string | type_name () |
get the typename. More... | |
Static Public Member Functions | |
static GlobalMapObject::Ptr | Create () |
create shared pointer of GlobalMapObject More... | |
Static Public Member Functions inherited from DataFlowObject | |
static void | cvMat2Sophus (const cv::Mat1d &Mat, Sophus::SE3d &Pose) |
create shared pointer of DataFlowObject, do NOT use this method directly, use the Create() method in derived class. More... | |
static void | Sophus2cvMat (const Sophus::SE3d &pose, cv::Mat1d &Mat) |
static cv::Mat1d | Rt2T (const cv::Mat1d &R, const cv::Mat1d &t) |
static std::tuple< cv::Mat1d, cv::Mat1d > | T2Rt (const cv::Mat1d &T) |
Public Attributes | |
std::map< int, int > | InitalFrames |
initial frames of different map <MapID,FrameID>. | |
Friends | |
std::ostream & | operator<< (std::ostream &os, GlobalMapObject &obj) |
Additional Inherited Members | |
Protected Member Functions inherited from MVSObject | |
bool | isDirExist (std::string path) |
check if the directory is exist. More... | |
bool | mkdir (std::string path) |
create directory in given path. More... | |
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static |
create shared pointer of GlobalMapObject
bool GlobalMapObject::getMaps | ( | std::set< std::map< int, FrameObject > > & | Frames, |
std::set< std::map< int, MapPointObject > > & | MapPoint | ||
) |
get all related frame as a whole map, return different map frames, and Map Points.
Frames | a set of maps' frames. |
MapPoint | a set of maps' Mappoints. |
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overridevirtual |
load data and settings from file
this method will load data such as keypoints, descriptors, translation matrices in DataFlowObject and its sub-classes from the given JsonNode instance. or will load parameters and settings in WorkFlowObject and its sub-classes to the given JsonNode instance, and automatically initialize the WorkFlow with these parameters
fs | the json handler |
Implements MVSObject.
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overridevirtual |
save data and settings to file
this method will save data such as keypoints, descriptors, translation matrices in DataFlowObject and its sub-classes to the given JsonNode instance, or will save parameters and settings in WorkFlowObject and its sub-classes to the given JsonNode instance.
fs | the json handler |
Implements MVSObject.
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overridevirtual |