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

⨍ Functions 260◇ Types & classes 67

↓ 1 callersMethodRun

Src/System.cc:59

↓ 1 callersFunctionSampsonusError

Src/HomographyInit.cc:344

↓ 1 callersFunctionSumXMM_16

Horizontal sum of uint16s stored in an XMM register

Src/PatchFinder.cc:382

↓ 1 callersMethodTrackFrame

TrackFrame is called by System.cc with each incoming video frame. It figures out what state the tracker is in, and calls appropriate internal tracking

Src/Tracker.cc:86

↓ 1 callersMethodUpdateParams

Src/ATANCamera.cc:236

↓ 1 callersMethodZMSSD

Calculate the zero-mean SSD between one image and the next. Since both are zero mean already, just calculate the SSD...

Src/SmallBlurryImage.cc:82

↓ 1 callersMethodZMSSDAtPoint

Calculate the Zero-mean SSD of the coarse patch and a target imate at a specific point.

Src/PatchFinder.cc:400

Src/ARDriver.cc:11

MethodATANCamera

Src/ATANCamera.cc:11

MethodAddKeyFrameFromTopOfQueue

Mapmaker's code to handle incoming key-frames.

Src/MapMaker.cc:447

Src/GLWindow2.cc:42

MethodAddNewKeyFrame

Time to add a new keyframe? The MapMaker handles most of this.

Src/Tracker.cc:939

MethodAddPointEpipolar

Tries to make a new map point out of a single candidate point by searching for that point in another keyframe, and triangulating if a match is found.

Src/MapMaker.cc:480

MethodAddSomeMapPoints

Adds map points by epipolar search to the last-added key-frame, at a single specified pyramid level. Does epipolar search in the target keyframe as cl

Src/MapMaker.cc:390

MethodApplyGlobalScaleToMap

Applies a global scale factor to the map

Src/MapMaker.cc:418

MethodApplyGlobalTransformationToMap

Rotates/translates the whole map and all keyframes

Src/MapMaker.cc:403

MethodApplyMotionModel

Just add the current velocity to the current pose. N.b. this doesn't actually use time in any way, i.e. it assumes a one-frame-per-second camera. Skip

Src/Tracker.cc:905

MethodAssessTrackingQuality

Some heuristics to decide if tracking is any good, for this frame. This influences decisions to add key-frames, and eventually causes the tracker to a

Src/Tracker.cc:948

MethodAttemptRecovery

Src/Relocaliser.cc:22

MethodAttemptRecovery

Try to relocalise in case tracking was lost. Returns success or failure as a bool. Actually, the SBI relocaliser will almost always return true, even

Src/Tracker.cc:190

MethodBestHomographyFromMatches_MLESAC

Src/HomographyInit.cc:177

Constructor copies MapMaker's camera parameters

Src/Bundle.cc:35

MethodBundleAdjust

Common bundle adjustment code. This creates a bundle-adjust instance, populates it, and runs it.

Src/MapMaker.cc:772

MethodBundleAdjustAll

Perform bundle adjustment on all keyframes, all map points

Src/MapMaker.cc:701

MethodBundleAdjustRecent

Peform a local bundle adjustment which only adjusts recently added key-frames

Src/MapMaker.cc:722

MethodCalcPlaneAligner

Find a dominant plane in the map, find an SE3<> to put it as the z=0 plane

Src/MapMaker.cc:1035

MethodCalcPoseUpdate

Calculate a pose update 6-vector from a bunch of image measurements. User-selectable M-Estimator. Normally this robustly estimates a sigma-squared for

Src/Tracker.cc:812

MethodCalcSBIRotation

Src/Tracker.cc:1005

MethodCalibCornerPatch

Src/CalibCornerPatch.cc:18

MethodCameraCalibrator

Src/CameraCalibrator.cc:45

MethodChooseBestDecomposition

Src/HomographyInit.cc:361

MethodClearAccumulators

Zero temporary quantities stored in cameras and points

Src/Bundle.cc:96

MethodClosestKeyFrame

Src/MapMaker.cc:663

Src/HomographyInit.cc:33

MethodDecomposeHomography

Src/HomographyInit.cc:230

MethodDistToNearestKeyFrame

Src/MapMaker.cc:682

MethodDo_LM_Step

Src/Bundle.cc:183

MethodDrawCamera

Src/MapViewer.cc:188

MethodDrawDistortedFB

Src/ARDriver.cc:192

Src/EyeGame.cc:103

MethodDrawFBBackGround

Src/ARDriver.cc:138

MethodDrawFadingGrid

Src/ARDriver.cc:240

Src/MapViewer.cc:46

MethodDrawImageGrid

Src/CalibImage.cc:420

MethodDrawMapDots

Src/MapViewer.cc:20

MethodEmptyTrash

MethodExpandByAngle

Src/CalibImage.cc:201

MethodExpandByStep

Src/CalibImage.cc:345

Src/EyeGame.cc:8

Src/GLWindowMenu.cc:147

MethodFindNewError

Src/Bundle.cc:529

MethodFindSigmaSquared

Src/MEstimator.h:76

MethodGLWindow2

Src/GLWindow2.cc:14

MethodGLWindowMenu

Src/GLWindowMenu.cc:12

MethodGUICommandCallBack

Src/GLWindow2.cc:48

MethodGUICommandCallBack

Src/CameraCalibrator.cc:166

MethodGUICommandCallBack

Src/GLWindowMenu.cc:40

MethodGUICommandCallBack

Src/System.cc:110

MethodGUICommandCallBack

Src/MapMaker.cc:1161

MethodGUICommandCallBack

GUI interface. Stuff commands onto the back of a queue so the tracker handles them in its own thread at the end of each frame. Note the charming lack

Src/Tracker.cc:253

MethodGUICommandHandler

Src/MapMaker.cc:1169

MethodGUICommandHandler

This is called in the tracker's own thread.

Src/Tracker.cc:262

MethodGenerateMeasLUTs

Optimisation: make a bunch of tables, one per camera which point to measurements (if any) for each point This is faster than a std::map lookup.

Src/Bundle.cc:557

MethodGenerateOffDiagScripts

Optimisation: make a per-point list of all observation camera-camera pairs; this is then scanned to make the off-diagonal elements of matrix S

Src/Bundle.cc:572

MethodGetCoarsePos

This evaluates the score at one location Results from step 3: All positions are in the scale of level 0.

Src/PatchFinder.h:85

Get the uncertainty estimate of a found patch; This for just returns an appropriately-scaled identity!

Src/PatchFinder.h:99

MethodGetImageSize

Src/ATANCamera.h:73

MethodGetMessageForUser

Src/MapViewer.cc:165

MethodGetOutliers

Src/Bundle.cc:627

MethodHandleBadPoints

HandleBadPoints() Does some heuristic checks on all points in the map to see if they should be flagged as bad, based on tracker feedback.

Src/MapMaker.cc:135

MethodHomographyFromMatches

Src/HomographyInit.cc:63

MethodIR_from_dirn

Src/CalibImage.cc:488

Src/ARDriver.cc:19

MethodIsHomographyInlier

Src/HomographyInit.cc:12

Src/CalibCornerPatch.cc:132

MethodIterateOnImage

Src/CalibCornerPatch.cc:105

MethodIterateSubPix

Single iteration of inverse composition. This compares integral image positions in the template image to floating point positions in the target keyfra

Src/PatchFinder.cc:306

Src/KeyFrame.h:77

MethodKeyFrameLinearDist

Src/MapMaker.cc:634

Src/KeyFrame.h:55

MethodLevelHelpersFiller

Src/KeyFrame.cc:119

Src/GLWindowMenu.cc:136

Src/EyeGame.cc:187

Determinant of 2x2

Src/SmallMatrixOpts.h:24

MethodMLESACScore

Src/HomographyInit.cc:21

MethodMakeFrameBuffer

Src/ARDriver.cc:96

MethodMakeShadowTex

Src/EyeGame.cc:211

MethodMakeSharedTemplate

Src/CalibCornerPatch.cc:181

MethodMakeTemplateSums

Finds the sum, and sum-squared, of template pixels. These sums are used to calculate the ZMSSD.

Src/PatchFinder.cc:159

MethodMakeTemplateWithCurrentParams

Src/CalibCornerPatch.cc:29

Constructor sets up internal reference variable to Map. Most of the intialisation is done by Reset()..

Src/MapMaker.cc:31

Constructor inserts sensible defaults and zeros pointers.

Src/MapPoint.h:29

MethodMapViewer

Src/MapViewer.cc:13

Src/Bundle.h:76

MethodModifyLambda_BadStep

Src/Bundle.cc:610

MethodModifyLambda_GoodStep

Src/Bundle.cc:604

MethodNClosestKeyFrames

Src/MapMaker.cc:643

MethodNeighborState

Src/CalibImage.h:18

MethodNextToExpand

Src/CalibImage.cc:328

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