#include <view.h>

Public Types
typedef std::shared_ptr< View >	Ptr

typedef std::shared_ptr< const View >	ConstPtr

Public Member Functions
	~View ()

void	SetCamera (const ::bsfm::Camera &camera)

::bsfm::Camera &	MutableCamera ()

const ::bsfm::Camera &	Camera () const

ViewIndex	Index () const

const std::vector< Observation::Ptr > &	Observations () const

bool	HasObservedLandmark (LandmarkIndex landmark_index) const

void	UpdateObservedLandmarks ()

const std::unordered_set< LandmarkIndex > &	ObservedLandmarks () const

Static Public Member Functions
static View::Ptr	Create (const ::bsfm::Camera &camera)

static View::Ptr	GetView (ViewIndex view_index)

static ViewIndex	NumExistingViews ()

static bool	IsValidView (ViewIndex view_index)

static void	ResetViews ()

static bool	SortByIndex (const View::Ptr &lhs, const View::Ptr &rhs)

Private Member Functions
	View (const ::bsfm::Camera &camera)

void	AddObservation (const Observation::Ptr &observation)

Static Private Member Functions
static ViewIndex	NextViewIndex ()

Private Attributes
::bsfm::Camera	camera_

ViewIndex	view_index_

std::vector< Observation::Ptr >	observations_

std::unordered_set< LandmarkIndex >	landmarks_

Static Private Attributes
static std::unordered_map< ViewIndex, View::Ptr >	view_registry_

static ViewIndex	current_view_index_ = 0

Friends
class	Observation

Detailed Description

Definition at line 64 of file view.h.

Member Typedef Documentation

typedef std::shared_ptr<const View> bsfm::View::ConstPtr

Definition at line 67 of file view.h.

typedef std::shared_ptr<View> bsfm::View::Ptr

Definition at line 66 of file view.h.

Constructor & Destructor Documentation

bsfm::View::~View ( )

inline

Definition at line 73 of file view.h.

73 {}

bsfm::View::View ( const ::bsfm::Camera & camera )

private

Definition at line 136 of file view.cpp.

137 : view_index_(NextViewIndex()), camera_(camera) {}

bsfm::View::camera_

::bsfm::Camera camera_

Definition: view.h:136

bsfm::View::NextViewIndex

static ViewIndex NextViewIndex()

Definition: view.cpp:141

bsfm::View::view_index_

ViewIndex view_index_

Definition: view.h:139

Member Function Documentation

void bsfm::View::AddObservation ( const Observation::Ptr & observation )

private

Definition at line 104 of file view.cpp.

                                                            {
   CHECK_NOTNULL(observation.get());
   observations_.push_back(observation);
 }

const ::bsfm::Camera & bsfm::View::Camera ( ) const

Definition at line 96 of file view.cpp.

                                      {
   return camera_;
 }

View::Ptr bsfm::View::Create ( const ::bsfm::Camera & camera )

static

Definition at line 51 of file view.cpp.

                                              {
   // Create a new View, implicitly assigning a unique index.
   View::Ptr view(new View(camera));
   view_registry_.insert(std::make_pair(view->Index(), view));
   return view;
 }

View::Ptr bsfm::View::GetView ( ViewIndex view_index )

static

Definition at line 60 of file view.cpp.

                                           {
   auto registry_element = view_registry_.find(view_index);
   if (registry_element == view_registry_.end()) {
     LOG(WARNING)
         << "View does not exist in registry. Returning a null pointer.";
     return View::Ptr();
   }
 
   return registry_element->second;
 }

bool bsfm::View::HasObservedLandmark ( LandmarkIndex landmark_index ) const

Definition at line 113 of file view.cpp.

                                                                  {
   return landmarks_.count(landmark_index);
 }

ViewIndex bsfm::View::Index ( ) const

Definition at line 100 of file view.cpp.

                             {
   return view_index_;
 }

bool bsfm::View::IsValidView ( ViewIndex view_index )

static

Definition at line 77 of file view.cpp.

                                            {
   return view_index <= current_view_index_;
 }

bsfm::Camera & bsfm::View::MutableCamera ( )

Definition at line 92 of file view.cpp.

                                 {
   return camera_;
 }

ViewIndex bsfm::View::NextViewIndex ( )

staticprivate

Definition at line 141 of file view.cpp.

                               {
   return current_view_index_++;
 }

ViewIndex bsfm::View::NumExistingViews ( )

static

Definition at line 72 of file view.cpp.

                                  {
   return view_registry_.size();
 }

const std::vector< Observation::Ptr > & bsfm::View::Observations ( ) const

Definition at line 109 of file view.cpp.

                                                           {
   return observations_;
 }

const std::unordered_set< LandmarkIndex > & bsfm::View::ObservedLandmarks ( ) const

Definition at line 127 of file view.cpp.

                                                                      {
   return landmarks_;
 }

void bsfm::View::ResetViews ( )

static

Definition at line 83 of file view.cpp.

                       {
   current_view_index_ = 0;
   view_registry_.clear();
 }

void bsfm::View::SetCamera ( const ::bsfm::Camera & camera )

Definition at line 88 of file view.cpp.

                                              {
   camera_ = camera;
 }

bool bsfm::View::SortByIndex	(	const View::Ptr &	lhs,
		const View::Ptr &	rhs
	)

static

Definition at line 131 of file view.cpp.

                                                              {
   return lhs->Index()< rhs->Index();
 }

void bsfm::View::UpdateObservedLandmarks ( )

Definition at line 117 of file view.cpp.

                                    {
   for (const auto& observation : observations_) {
     CHECK_NOTNULL(observation.get());
     if (!observation->IsIncorporated()) continue;
 
     // Calls to std::set::insert() will overwrite old key value pairs.
     landmarks_.insert(observation->GetLandmark()->Index());
   }
 }

Friends And Related Function Documentation

friend class Observation

friend

Definition at line 132 of file view.h.

Member Data Documentation

::bsfm::Camera bsfm::View::camera_

private

Definition at line 136 of file view.h.

ViewIndex bsfm::View::current_view_index_ = 0

staticprivate

Definition at line 155 of file view.h.

std::unordered_set<LandmarkIndex> bsfm::View::landmarks_

private

Definition at line 152 of file view.h.

std::vector<Observation::Ptr> bsfm::View::observations_

private

Definition at line 147 of file view.h.

ViewIndex bsfm::View::view_index_

private

Definition at line 139 of file view.h.

std::unordered_map< ViewIndex, View::Ptr > bsfm::View::view_registry_

staticprivate

Definition at line 143 of file view.h.

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

/Users/eanelson/Git/berkeley_sfm/src/cpp/sfm/view.h
/Users/eanelson/Git/berkeley_sfm/src/cpp/sfm/view.cpp

Public Types

Public Member Functions

Static Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Friends

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation