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Functions260 in github.com/Oxford-PTAM/PTAM-GPL

⨍ Functions 260◇ Types & classes 67

↓ 16 callersMethodUnProject

Un-project from image pixel coords to the camera z=1 plane while storing intermediate calculation results in member variables

Src/ATANCamera.cc:125

↓ 11 callersFunctionLevelScale

What is the scale of a level?

Src/LevelHelpers.h:20

↓ 7 callersMethodProject

Project from the camera z=1 plane to image pixels, while storing intermediate calculation results in member variables

Src/ATANCamera.cc:109

↓ 6 callersMethodGetProjectionDerivs

Src/ATANCamera.cc:172

↓ 6 callersMethodGetSubPixPos

Single iteration of IC. Returns sum-squared pixel update dist, or negative if out of imag

Src/PatchFinder.h:94

↓ 6 callersMethodPrintString

Src/GLWindow2.cc:141

↓ 6 callersMethodm2Warp

Src/CalibCornerPatch.cc:207

↓ 5 callersMethodGetLevel

Src/PatchFinder.h:62

↓ 5 callersMethodIsGood

↓ 5 callersMethodLargestRadiusInImage

Src/ATANCamera.h:90

↓ 5 callersMethodSetImageSize

Src/ATANCamera.cc:21

↓ 5 callersMethodSetupViewport

Src/GLWindow2.cc:136

↓ 4 callersMethodIterateSubPixToConvergence

Iterate inverse composition until convergence. Since it should never have to travel more than a pixel's distance, set a max number of iterations; if t

Src/PatchFinder.cc:286

↓ 4 callersFunctionLevelZeroPos

1-D transform to level zero:

Src/LevelHelpers.h:26

↓ 4 callersMethodMakeKeyFrame_Rest

Src/KeyFrame.cc:61

↓ 4 callersMethodMakeSubPixTemplate

Makes an inverse composition template out of the coarse template. Includes calculating image of derivatives (gradients.) The inverse composition used

Src/PatchFinder.cc:254

↓ 4 callersMethodProjectAndDerivs

Does projection and gets camera derivs all in one.

Src/TrackerData.h:76

↓ 4 callersMethodRefreshPixelVectors

Src/MapPoint.cc:4

↓ 3 callersMethodDraw

Src/CalibImage.cc:252

↓ 3 callersMethodGetSteps

Src/CalibImage.cc:302

↓ 3 callersMethodInvalid

Src/ATANCamera.h:89

↓ 3 callersMethodIterateOnImageWithDrawing

Src/CalibCornerPatch.cc:91

↓ 3 callersFunctionM2Inverse

Src/SmallMatrixOpts.h:10

↓ 3 callersMethodProject

Src/CalibImage.cc:590

↓ 3 callersMethodSetupVideoOrtho

Src/GLWindow2.cc:120

↓ 3 callersMethodSetupVideoRasterPosAndZoom

Src/GLWindow2.cc:127

↓ 3 callersMethodTemplateBad

If the template making failed (i.e. it needed pixels outside the source image), this bool will return false.

Src/PatchFinder.h:75

↓ 2 callersMethodAddCamera

Add a camera to the system, return value is the bundle adjuster's ID for the camera

Src/Bundle.cc:46

↓ 2 callersMethodCalcJacobian

Jacobian of projection W.R.T. the camera position I.e. if p_cam = SE3Old * p_world, SE3New = SE3Motion * SE3Old

Src/TrackerData.h:86

↓ 2 callersFunctionCheckFramebufferStatus

Src/ARDriver.cc:126

↓ 2 callersMethodCompute

Perform bundle adjustment. The parameter points to a signal bool which mapmaker will set to high if another keyframe is incoming and bundle adjustment

Src/Bundle.cc:115

↓ 2 callersMethodDisableRadialDistortion

Src/ATANCamera.cc:243

↓ 2 callersMethodDraw3DGrid

Src/CalibImage.cc:448

↓ 2 callersMethodDrawCaption

Src/GLWindow2.cc:151

↓ 2 callersMethodDrawMenus

Src/GLWindow2.cc:78

↓ 2 callersMethodFindPatch

Find a patch by searching at FAST corners in an input image If available, a row-corner LUT is used to speed up search through the FAST corners

Src/MiniPatch.cc:34

↓ 2 callersMethodFindPatchCoarse

One of the main functions of the class! Looks at the appropriate level of the target keyframe to try and find the template. Looks only at FAST corner

Src/PatchFinder.cc:179

↓ 2 callersMethodGetCoarsePosAsVector

Src/PatchFinder.h:86

↓ 2 callersMethodGetCurrentPose

Src/Tracker.h:50

↓ 2 callersMethodGetMessageForUser

Src/Tracker.cc:1000

↓ 2 callersMethodHandlePendingEvents

Src/GLWindow2.cc:193

↓ 2 callersMethodIteratePosRelToTarget

Find an SE2 which best aligns an SBI to a target Do this by ESM-tracking a la Benhimane & Malis

Src/SmallBlurryImage.cc:98

↓ 2 callersFunctionM3Det

Determinant of 3x3

Src/SmallMatrixOpts.h:30

↓ 2 callersMethodMakeJacs

Make the jacobians (actually, no more than a gradient image) of the blurred template

Src/SmallBlurryImage.cc:59

↓ 2 callersMethodMakeTemplateCoarseNoWarp

This makes a template without warping. Used for epipolar search, where we don't really know what the warping matrix should be. (Although to be fair, I

Src/PatchFinder.cc:133

↓ 2 callersMethodRender

Src/ARDriver.cc:38

↓ 2 callersMethodSampleFromImage

Define the patch from an input image

Src/MiniPatch.cc:85

↓ 2 callersMethodSetSubPixPos

Src/PatchFinder.h:95

↓ 2 callersMethodSetupUnitOrtho

Src/GLWindow2.cc:106

↓ 2 callersFunctionSumXMM_32

Horizontal sum of uint32s stored in an XMM register

Src/PatchFinder.cc:390

↓ 2 callersMethodUFBLinearProject

Some inline projection functions:

Src/ATANCamera.h:166

↓ 2 callersMethodUFBUnProject

Src/ATANCamera.cc:266

↓ 2 callersFunctionisnan

Src/Bundle.cc:14

↓ 1 callersMethodAddKeyFrame

The tracker entry point for adding a new keyframe; the tracker thread doesn't want to hang about, so just dumps it on the top of the mapmaker's queue

Src/MapMaker.cc:436

↓ 1 callersMethodAddMeas

Add a measurement of one point with one camera

Src/Bundle.cc:81

↓ 1 callersMethodAddPoint

Add a map point to the system, return value is the bundle adjuster's ID for the point

Src/Bundle.cc:66

↓ 1 callersMethodBestPose

Src/Relocaliser.cc:17

↓ 1 callersFunctionBundleTriangle_UpdateM3V_LL

Src/Bundle.cc:27

↓ 1 callersFunctionBundleTriangle_UpdateM6U_LL

Some inlines which replace standard matrix multiplications with LL-triangle-only versions.

Src/Bundle.cc:21

↓ 1 callersMethodCalcSearchLevelAndWarpMatrix

Find the warping matrix and search level

Src/PatchFinder.cc:33

↓ 1 callersMethodConverged

Perform bundle adjustment. Aborts if *pbAbortSignal gets set to true. Returns number of accepted update iterations, or negative on error.

Src/Bundle.h:112

↓ 1 callersMethodDrawMap

Src/MapViewer.cc:125

↓ 1 callersMethodDrawStuff

Src/EyeGame.cc:15

↓ 1 callersMethodExpansionPotential

Src/CalibImage.cc:267

↓ 1 callersFunctionFindShiTomasiScoreAtPoint

Src/ShiTomasi.cc:7

↓ 1 callersMethodGUICommandHandler

Src/GLWindow2.cc:53

↓ 1 callersMethodGUICommandHandler

Src/CameraCalibrator.cc:171

↓ 1 callersMethodGUICommandHandler

Src/GLWindowMenu.cc:45

↓ 1 callersMethodGetCamera

Src/Bundle.cc:622

↓ 1 callersMethodGetCameraParameterDerivs

Src/ATANCamera.cc:208

↓ 1 callersMethodGetDerivsUnsafe

Get the projection derivatives (depend only on the camera.) This is called Unsafe because it depends on the camera caching results from the previous p

Src/TrackerData.h:70

↓ 1 callersMethodGetLevelScale

Src/PatchFinder.h:63

↓ 1 callersMethodGetMousePoseUpdate

Src/GLWindow2.cc:236

↓ 1 callersMethodGetOutlierMeasurements

Src/Bundle.cc:641

↓ 1 callersMethodGetPoint

Src/Bundle.cc:617

↓ 1 callersMethodGoodMeasCount

Which keyframes have measurements failed enough so I should never retry?

Src/MapMaker.h:33

↓ 1 callersFunctionGuessInitialAngles

Src/CalibImage.cc:67

↓ 1 callersMethodGuessInitialPose

Src/CalibImage.cc:496

↓ 1 callersMethodHandleClick

Src/GLWindowMenu.cc:252

↓ 1 callersMethodInit

Src/EyeGame.cc:174

↓ 1 callersMethodInitFromStereo

InitFromStereo() generates the initial match from two keyframes and a vector of image correspondences. Uses the

Src/MapMaker.cc:196

↓ 1 callersFunctionIsCorner

Src/CalibImage.cc:20

↓ 1 callersMethodIsDistanceToNearestKeyFrameExcessive

Is the tracker's camera pose in cloud-cuckoo land?

Src/MapMaker.cc:1029

↓ 1 callersFunctionLevelNPos

1-D transform from level zero to level N:

Src/LevelHelpers.h:48

↓ 1 callersMethodLinearUpdate

Sometimes in tracker instead of reprojecting, just update the error linearly!

Src/TrackerData.h:100

↓ 1 callersMethodMakeFromImage

Src/CalibImage.cc:108

↓ 1 callersMethodMakeFromKF

Make a SmallBlurryImage from a KeyFrame This fills in the mimSmall image (Which is just a small un-blurred version of the KF) and mimTemplate (which i

Src/SmallBlurryImage.cc:30

↓ 1 callersMethodMakeKeyFrame_Lite

Src/KeyFrame.cc:12

↓ 1 callersMethodMakeTemplateCoarse

This is just a convenience function wich caluclates the warp matrix and generates the template all in one call.

Src/PatchFinder.cc:72

↓ 1 callersMethodMakeTemplateCoarseCont

This function generates the warped search template.

Src/PatchFinder.cc:81

↓ 1 callersMethodMakeUFBLinearFrustumMatrix

Utility function for easy drawing with OpenGL C.f. comment in top of ATANCamera.h

Src/ATANCamera.cc:144

↓ 1 callersMethodMoveBadPointsToTrash

↓ 1 callersMethodNeedNewKeyFrame

Src/MapMaker.cc:689

↓ 1 callersMethodOnePixelDist

Src/ATANCamera.h:91

↓ 1 callersMethodPixelAspectRatio

Feedback for Camera Calibrator

Src/ATANCamera.h:101

↓ 1 callersMethodQueueSize

Returns true if the has been done.

Src/MapMaker.h:57

↓ 1 callersMethodRequestReset

Tracker calls this to demand a reset

Src/MapMaker.cc:122

↓ 1 callersMethodReset

↓ 1 callersMethodResetDone

Src/MapMaker.cc:128

↓ 1 callersMethodRun

Src/CameraCalibrator.cc:72

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