ORB_SLAM2::MapPoint Class Reference

#include <MapPoint.h>

Public Member Functions
void	AddObservation (KeyFrame *pKF, size_t idx)
void	ComputeDistinctiveDescriptors ()
void	EraseObservation (KeyFrame *pKF)
cv::Mat	GetDescriptor ()
int	GetFound ()
float	GetFoundRatio ()
int	GetIndexInKeyFrame (KeyFrame *pKF)
float	GetMaxDistanceInvariance ()
float	GetMinDistanceInvariance ()
cv::Mat	GetNormal ()
std::map< KeyFrame *, size_t >	GetObservations ()
KeyFrame *	GetReferenceKeyFrame ()
MapPoint *	GetReplaced ()
cv::Mat	GetWorldPos ()
void	IncreaseFound (int n=1)
void	IncreaseVisible (int n=1)
bool	isBad ()
bool	IsInKeyFrame (KeyFrame *pKF)
	MapPoint (const cv::Mat &Pos, KeyFrame *pRefKF, Map *pMap)
	MapPoint (const cv::Mat &Pos, Map *pMap, Frame *pFrame, const int &idxF)
	MapPoint ()
int	Observations ()
int	PredictScale (const float &currentDist, KeyFrame *pKF)
int	PredictScale (const float &currentDist, Frame *pF)
void	Replace (MapPoint *pMP)
void	SetBadFlag ()
void	SetWorldPos (const cv::Mat &Pos)
void	UpdateNormalAndDepth ()

Public Attributes
bool	mbTrackInView
long unsigned int	mnBAGlobalForKF
long unsigned int	mnBALocalForKF
long unsigned int	mnCorrectedByKF
long unsigned int	mnCorrectedReference
long int	mnFirstFrame
long int	mnFirstKFid
long unsigned int	mnFuseCandidateForKF
long unsigned int	mnId
long unsigned int	mnLastFrameSeen
long unsigned int	mnLoopPointForKF
long unsigned int	mnTrackReferenceForFrame
int	mnTrackScaleLevel
cv::Mat	mPosGBA
float	mTrackProjX
float	mTrackProjXR
float	mTrackProjY
float	mTrackViewCos
int	nObs

Static Public Attributes
static std::mutex	mGlobalMutex
static long unsigned int	nNextId =0

Protected Attributes
bool	mbBad
cv::Mat	mDescriptor
float	mfMaxDistance
float	mfMinDistance
std::mutex	mMutexFeatures
std::mutex	mMutexPos
int	mnFound
cv::Mat	mNormalVector
int	mnVisible
std::map< KeyFrame *, size_t >	mObservations
Map *	mpMap
KeyFrame *	mpRefKF
MapPoint *	mpReplaced
cv::Mat	mWorldPos

Private Member Functions
template<class Archive >
void	serialize (Archive &ar, const unsigned int version)

Friends
class	boost::serialization::access

Detailed Description

Definition at line 40 of file MapPoint.h.

Constructor & Destructor Documentation

ORB_SLAM2::MapPoint::MapPoint	(	const cv::Mat &	Pos,
		KeyFrame *	pRefKF,
		Map *	pMap
	)

Definition at line 32 of file MapPoint.cc.

ORB_SLAM2::MapPoint::MapPoint	(	const cv::Mat &	Pos,
		Map *	pMap,
		Frame *	pFrame,
		const int &	idxF
	)

Definition at line 46 of file MapPoint.cc.

ORB_SLAM2::MapPoint::MapPoint

(

)

Definition at line 420 of file MapPoint.cc.

Member Function Documentation

void ORB_SLAM2::MapPoint::AddObservation	(	KeyFrame *	pKF,
		size_t	idx
	)

Definition at line 98 of file MapPoint.cc.

void ORB_SLAM2::MapPoint::ComputeDistinctiveDescriptors

(

)

Definition at line 242 of file MapPoint.cc.

void ORB_SLAM2::MapPoint::EraseObservation

(

KeyFrame *

pKF

)

Definition at line 111 of file MapPoint.cc.

cv::Mat ORB_SLAM2::MapPoint::GetDescriptor

(

)

Definition at line 309 of file MapPoint.cc.

int ORB_SLAM2::MapPoint::GetFound ( )

inline

Definition at line 70 of file MapPoint.h.

float ORB_SLAM2::MapPoint::GetFoundRatio

(

)

Definition at line 236 of file MapPoint.cc.

int ORB_SLAM2::MapPoint::GetIndexInKeyFrame

(

KeyFrame *

pKF

)

Definition at line 315 of file MapPoint.cc.

float ORB_SLAM2::MapPoint::GetMaxDistanceInvariance

(

)

Definition at line 379 of file MapPoint.cc.

float ORB_SLAM2::MapPoint::GetMinDistanceInvariance

(

)

Definition at line 373 of file MapPoint.cc.

cv::Mat ORB_SLAM2::MapPoint::GetNormal

(

)

Definition at line 86 of file MapPoint.cc.

map< KeyFrame *, size_t > ORB_SLAM2::MapPoint::GetObservations

(

)

Definition at line 139 of file MapPoint.cc.

KeyFrame * ORB_SLAM2::MapPoint::GetReferenceKeyFrame

(

)

Definition at line 92 of file MapPoint.cc.

MapPoint * ORB_SLAM2::MapPoint::GetReplaced

(

)

Definition at line 170 of file MapPoint.cc.

cv::Mat ORB_SLAM2::MapPoint::GetWorldPos

(

)

Definition at line 80 of file MapPoint.cc.

void ORB_SLAM2::MapPoint::IncreaseFound

(

int

n = 1

)

Definition at line 230 of file MapPoint.cc.

void ORB_SLAM2::MapPoint::IncreaseVisible

(

int

n = 1

)

Definition at line 224 of file MapPoint.cc.

bool ORB_SLAM2::MapPoint::isBad

(

)

Definition at line 217 of file MapPoint.cc.

bool ORB_SLAM2::MapPoint::IsInKeyFrame

(

KeyFrame *

pKF

)

Definition at line 324 of file MapPoint.cc.

int ORB_SLAM2::MapPoint::Observations

(

)

Definition at line 145 of file MapPoint.cc.

int ORB_SLAM2::MapPoint::PredictScale	(	const float &	currentDist,
		KeyFrame *	pKF
	)

Definition at line 385 of file MapPoint.cc.

int ORB_SLAM2::MapPoint::PredictScale	(	const float &	currentDist,
		Frame *	pF
	)

Definition at line 402 of file MapPoint.cc.

void ORB_SLAM2::MapPoint::Replace

(

MapPoint *

pMP

)

Definition at line 177 of file MapPoint.cc.

template<class Archive >

template void ORB_SLAM2::MapPoint::serialize ( Archive &  ar, const unsigned int  version  )

private

Definition at line 427 of file MapPoint.cc.

void ORB_SLAM2::MapPoint::SetBadFlag

(

)

Definition at line 151 of file MapPoint.cc.

void ORB_SLAM2::MapPoint::SetWorldPos

(

const cv::Mat &

Pos

)

Definition at line 73 of file MapPoint.cc.

void ORB_SLAM2::MapPoint::UpdateNormalAndDepth

(

)

Definition at line 330 of file MapPoint.cc.

Friends And Related Function Documentation

friend class boost::serialization::access

friend

Definition at line 156 of file MapPoint.h.

Member Data Documentation

bool ORB_SLAM2::MapPoint::mbBad

protected

Definition at line 138 of file MapPoint.h.

bool ORB_SLAM2::MapPoint::mbTrackInView

Definition at line 96 of file MapPoint.h.

cv::Mat ORB_SLAM2::MapPoint::mDescriptor

protected

Definition at line 128 of file MapPoint.h.

float ORB_SLAM2::MapPoint::mfMaxDistance

protected

Definition at line 143 of file MapPoint.h.

float ORB_SLAM2::MapPoint::mfMinDistance

protected

Definition at line 142 of file MapPoint.h.

mutex ORB_SLAM2::MapPoint::mGlobalMutex

static

Definition at line 114 of file MapPoint.h.

std::mutex ORB_SLAM2::MapPoint::mMutexFeatures

protected

Definition at line 148 of file MapPoint.h.

std::mutex ORB_SLAM2::MapPoint::mMutexPos

protected

Definition at line 147 of file MapPoint.h.

long unsigned int ORB_SLAM2::MapPoint::mnBAGlobalForKF

Definition at line 111 of file MapPoint.h.

long unsigned int ORB_SLAM2::MapPoint::mnBALocalForKF

Definition at line 103 of file MapPoint.h.

long unsigned int ORB_SLAM2::MapPoint::mnCorrectedByKF

Definition at line 108 of file MapPoint.h.

long unsigned int ORB_SLAM2::MapPoint::mnCorrectedReference

Definition at line 109 of file MapPoint.h.

long int ORB_SLAM2::MapPoint::mnFirstFrame

Definition at line 89 of file MapPoint.h.

long int ORB_SLAM2::MapPoint::mnFirstKFid

Definition at line 88 of file MapPoint.h.

int ORB_SLAM2::MapPoint::mnFound

protected

Definition at line 135 of file MapPoint.h.

long unsigned int ORB_SLAM2::MapPoint::mnFuseCandidateForKF

Definition at line 104 of file MapPoint.h.

long unsigned int ORB_SLAM2::MapPoint::mnId

Definition at line 86 of file MapPoint.h.

long unsigned int ORB_SLAM2::MapPoint::mnLastFrameSeen

Definition at line 100 of file MapPoint.h.

long unsigned int ORB_SLAM2::MapPoint::mnLoopPointForKF

Definition at line 107 of file MapPoint.h.

cv::Mat ORB_SLAM2::MapPoint::mNormalVector

protected

Definition at line 125 of file MapPoint.h.

long unsigned int ORB_SLAM2::MapPoint::mnTrackReferenceForFrame

Definition at line 99 of file MapPoint.h.

int ORB_SLAM2::MapPoint::mnTrackScaleLevel

Definition at line 97 of file MapPoint.h.

int ORB_SLAM2::MapPoint::mnVisible

protected

Definition at line 134 of file MapPoint.h.

std::map<KeyFrame*,size_t> ORB_SLAM2::MapPoint::mObservations

protected

Definition at line 122 of file MapPoint.h.

Map* ORB_SLAM2::MapPoint::mpMap

protected

Definition at line 145 of file MapPoint.h.

cv::Mat ORB_SLAM2::MapPoint::mPosGBA

Definition at line 110 of file MapPoint.h.

KeyFrame* ORB_SLAM2::MapPoint::mpRefKF

protected

Definition at line 131 of file MapPoint.h.

MapPoint* ORB_SLAM2::MapPoint::mpReplaced

protected

Definition at line 139 of file MapPoint.h.

float ORB_SLAM2::MapPoint::mTrackProjX

Definition at line 93 of file MapPoint.h.

float ORB_SLAM2::MapPoint::mTrackProjXR

Definition at line 95 of file MapPoint.h.

float ORB_SLAM2::MapPoint::mTrackProjY

Definition at line 94 of file MapPoint.h.

float ORB_SLAM2::MapPoint::mTrackViewCos

Definition at line 98 of file MapPoint.h.

cv::Mat ORB_SLAM2::MapPoint::mWorldPos

protected

Definition at line 119 of file MapPoint.h.

long unsigned int ORB_SLAM2::MapPoint::nNextId =0

static

Definition at line 87 of file MapPoint.h.

int ORB_SLAM2::MapPoint::nObs

Definition at line 90 of file MapPoint.h.

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

• MapPoint.h
• MapPoint.cc