Class MapPoint

• Defined in File MapPoint.h

Nested Relationships

Nested Types

• Struct MapPoint::Observation

Class Documentation

class MapPoint

A 3D landmark visible from multiple keyframes.

Thread-safety: position, observations and flags are protected by a mutex. The ID is set at construction and never changes.

Public Types

using Ptr = std::shared_ptr<MapPoint>

Public Functions

explicit MapPoint(int id, const mrpt::math::TPoint3Df &pos = {})

inline int id() const

mrpt::math::TPoint3Df position() const

void setPosition(const mrpt::math::TPoint3Df &p)

Eigen::Vector3f positionEigen() const

void setPositionEigen(const Eigen::Vector3f &p)

void addObservation(const std::shared_ptr<Keyframe> &kf, int feature_idx)

void removeObservation(const std::shared_ptr<Keyframe> &kf)

int observationCount() const

std::vector<Observation> observations() const

Eigen::Matrix3f covariance() const

void setCovariance(const Eigen::Matrix3f &cov)

Eigen::Matrix2f projectCovariance(const Eigen::Matrix3f &R_cw, const Eigen::Matrix3f &K) const

Project covariance to pixel space. cov_pixel = J_proj · R · cov_world · Rᵀ · J_projᵀ where J_proj is the 2×3 projection Jacobian at the given camera. Returns a 2×2 pixel-space covariance.

Parameters:

• R_cw – Camera←World rotation

• K – Camera intrinsic matrix

inline bool isBad() const

inline void markBad()

inline bool isMultiViewTriangulated() const

inline void setMultiViewTriangulated(bool v)

struct Observation

Public Members

std::weak_ptr<Keyframe> keyframe

int feature_index = -1