GlobalMapObject Class Reference

Inheritance diagram for GlobalMapObject:

Collaboration diagram for GlobalMapObject:

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

Frames	a set of maps' frames.
MapPoint	a 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

fs	the 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

fs	the 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.

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

• C:/Users/ZhouZishun/Documents/Workspace/EasyMVS/core/common/GlobalMapObject.h
• C:/Users/ZhouZishun/Documents/Workspace/EasyMVS/core/common/GlobalMapObject.cpp