EasyMVS
simple 3D reconstruction framework
Public Types | Public Member Functions | Static Public Member Functions | Public Attributes | Friends | List of all members
GlobalMapObject Class Reference
Inheritance diagram for GlobalMapObject:
Inheritance graph
[legend]
Collaboration diagram for GlobalMapObject:
Collaboration graph
[legend]

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...
 

Member Function Documentation

◆ Create()

GlobalMapObject::Ptr GlobalMapObject::Create ( )
static

create shared pointer of GlobalMapObject

Returns
GlobalMapObject::Ptr

◆ getMaps()

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.

Parameters
Framesa set of maps' frames.
MapPointa set of maps' Mappoints.
Returns
whether can find map.

◆ load()

bool GlobalMapObject::load ( JsonNode &  fs)
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

Parameters
fsthe json handler
Returns
true load successfully
false load failed or initialization falied.

Implements MVSObject.

◆ save()

bool GlobalMapObject::save ( JsonNode &  fs)
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.

Parameters
fsthe json handler
Returns
true save successfully
false save failed

Implements MVSObject.

◆ type_name()

std::string GlobalMapObject::type_name ( )
overridevirtual

get the typename.

Returns

Reimplemented from MVSObject.


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