ORB_SLAM2::Map Class Reference

#include <Map.h>

Public Member Functions
void	_WriteMapPoint (ofstream &f, MapPoint *mp, const std::string &end_marker="\n")
void	_WriteMapPointObj (ofstream &f, MapPoint *mp, const std::string &end_marker="\n")
void	AddKeyFrame (KeyFrame *pKF)
void	AddMapPoint (MapPoint *pMP)
void	clear ()
void	EraseKeyFrame (KeyFrame *pKF)
void	EraseMapPoint (MapPoint *pMP)
std::vector< KeyFrame * >	GetAllKeyFrames ()
std::vector< MapPoint * >	GetAllMapPoints ()
int	GetLastBigChangeIdx ()
long unsigned int	GetMaxKFid ()
std::vector< MapPoint * >	GetReferenceMapPoints ()
void	InformNewBigChange ()
long unsigned	KeyFramesInMap ()
	Map ()
long unsigned int	MapPointsInMap ()
bool	SaveWithPose (const string &filename)
bool	SaveWithTimestamps (const string &filename)
void	SetReferenceMapPoints (const std::vector< MapPoint * > &vpMPs)

Public Attributes
std::mutex	mMutexMapUpdate
std::mutex	mMutexPointCreation
vector< KeyFrame * >	mvpKeyFrameOrigins

Protected Member Functions
void	GetMapPointsIdx ()

Protected Attributes
std::mutex	mMutexMap
int	mnBigChangeIdx
long unsigned int	mnMaxKFid
std::set< KeyFrame * >	mspKeyFrames
std::set< MapPoint * >	mspMapPoints
std::vector< MapPoint * >	mvpReferenceMapPoints

Detailed Description

Definition at line 38 of file Map.h.

Constructor & Destructor Documentation

ORB_SLAM2::Map::Map

(

)

Member Function Documentation

void ORB_SLAM2::Map::_WriteMapPoint	(	ofstream &	f,
		MapPoint *	mp,
		const std::string &	end_marker = "\n"
	)

void ORB_SLAM2::Map::_WriteMapPointObj	(	ofstream &	f,
		MapPoint *	mp,
		const std::string &	end_marker = "\n"
	)

void ORB_SLAM2::Map::AddKeyFrame

(

KeyFrame *

pKF

)

void ORB_SLAM2::Map::AddMapPoint

(

MapPoint *

pMP

)

void ORB_SLAM2::Map::clear

(

)

void ORB_SLAM2::Map::EraseKeyFrame

(

KeyFrame *

pKF

)

void ORB_SLAM2::Map::EraseMapPoint

(

MapPoint *

pMP

)

std::vector<KeyFrame*> ORB_SLAM2::Map::GetAllKeyFrames

(

)

std::vector<MapPoint*> ORB_SLAM2::Map::GetAllMapPoints

(

)

int ORB_SLAM2::Map::GetLastBigChangeIdx

(

)

void ORB_SLAM2::Map::GetMapPointsIdx ( )

protected

long unsigned int ORB_SLAM2::Map::GetMaxKFid

(

)

std::vector<MapPoint*> ORB_SLAM2::Map::GetReferenceMapPoints

(

)

void ORB_SLAM2::Map::InformNewBigChange

(

)

long unsigned ORB_SLAM2::Map::KeyFramesInMap

(

)

long unsigned int ORB_SLAM2::Map::MapPointsInMap

(

)

bool ORB_SLAM2::Map::SaveWithPose

(

const string &

filename

)

bool ORB_SLAM2::Map::SaveWithTimestamps

(

const string &

filename

)

void ORB_SLAM2::Map::SetReferenceMapPoints

(

const std::vector< MapPoint * > &

vpMPs

)

Member Data Documentation

std::mutex ORB_SLAM2::Map::mMutexMap

protected

Definition at line 88 of file Map.h.

std::mutex ORB_SLAM2::Map::mMutexMapUpdate

Definition at line 72 of file Map.h.

std::mutex ORB_SLAM2::Map::mMutexPointCreation

Definition at line 75 of file Map.h.

int ORB_SLAM2::Map::mnBigChangeIdx

protected

Definition at line 86 of file Map.h.

long unsigned int ORB_SLAM2::Map::mnMaxKFid

protected

Definition at line 83 of file Map.h.

std::set<KeyFrame*> ORB_SLAM2::Map::mspKeyFrames

protected

Definition at line 79 of file Map.h.

std::set<MapPoint*> ORB_SLAM2::Map::mspMapPoints

protected

Definition at line 78 of file Map.h.

vector<KeyFrame*> ORB_SLAM2::Map::mvpKeyFrameOrigins

Definition at line 70 of file Map.h.

std::vector<MapPoint*> ORB_SLAM2::Map::mvpReferenceMapPoints

protected

Definition at line 81 of file Map.h.

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

• Map.h