ORB_SLAM2::MapPoint Class Reference

#include "MapPoint.h"

Public Member Functions
	MapPoint (const cv::Mat &Pos, KeyFrame *pRefKF, Map *pMap)
	MapPoint (const cv::Mat &Pos, Map *pMap, Frame *pFrame, const int &idxF)
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)
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

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

Constructor & Destructor Documentation

MapPoint() [1/2]

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

MapPoint() [2/2]

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

Member Function Documentation

AddObservation()

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

ComputeDistinctiveDescriptors()

void ORB_SLAM2::MapPoint::ComputeDistinctiveDescriptors

(

)

EraseObservation()

void ORB_SLAM2::MapPoint::EraseObservation

(

KeyFrame *

pKF

)

GetDescriptor()

cv::Mat ORB_SLAM2::MapPoint::GetDescriptor

(

)

GetFound()

int ORB_SLAM2::MapPoint::GetFound ( )

inline

GetFoundRatio()

float ORB_SLAM2::MapPoint::GetFoundRatio

(

)

GetIndexInKeyFrame()

int ORB_SLAM2::MapPoint::GetIndexInKeyFrame

(

KeyFrame *

pKF

)

GetMaxDistanceInvariance()

float ORB_SLAM2::MapPoint::GetMaxDistanceInvariance

(

)

GetMinDistanceInvariance()

float ORB_SLAM2::MapPoint::GetMinDistanceInvariance

(

)

GetNormal()

cv::Mat ORB_SLAM2::MapPoint::GetNormal

(

)

GetObservations()

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

(

)

GetReferenceKeyFrame()

KeyFrame* ORB_SLAM2::MapPoint::GetReferenceKeyFrame

(

)

GetReplaced()

MapPoint* ORB_SLAM2::MapPoint::GetReplaced

(

)

GetWorldPos()

cv::Mat ORB_SLAM2::MapPoint::GetWorldPos

(

)

IncreaseFound()

void ORB_SLAM2::MapPoint::IncreaseFound

(

int

n = 1

)

IncreaseVisible()

void ORB_SLAM2::MapPoint::IncreaseVisible

(

int

n = 1

)

isBad()

bool ORB_SLAM2::MapPoint::isBad

(

)

IsInKeyFrame()

bool ORB_SLAM2::MapPoint::IsInKeyFrame

(

KeyFrame *

pKF

)

Observations()

int ORB_SLAM2::MapPoint::Observations

(

)

PredictScale() [1/2]

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

PredictScale() [2/2]

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

Replace()

void ORB_SLAM2::MapPoint::Replace

(

MapPoint *

pMP

)

SetBadFlag()

void ORB_SLAM2::MapPoint::SetBadFlag

(

)

SetWorldPos()

void ORB_SLAM2::MapPoint::SetWorldPos

(

const cv::Mat &

Pos

)

UpdateNormalAndDepth()

void ORB_SLAM2::MapPoint::UpdateNormalAndDepth

(

)

Member Data Documentation

mbBad

bool ORB_SLAM2::MapPoint::mbBad

protected

mbTrackInView

bool ORB_SLAM2::MapPoint::mbTrackInView

mDescriptor

cv::Mat ORB_SLAM2::MapPoint::mDescriptor

protected

mfMaxDistance

float ORB_SLAM2::MapPoint::mfMaxDistance

protected

mfMinDistance

float ORB_SLAM2::MapPoint::mfMinDistance

protected

mGlobalMutex

std::mutex ORB_SLAM2::MapPoint::mGlobalMutex

static

mMutexFeatures

std::mutex ORB_SLAM2::MapPoint::mMutexFeatures

protected

mMutexPos

std::mutex ORB_SLAM2::MapPoint::mMutexPos

protected

mnBAGlobalForKF

long unsigned int ORB_SLAM2::MapPoint::mnBAGlobalForKF

mnBALocalForKF

long unsigned int ORB_SLAM2::MapPoint::mnBALocalForKF

mnCorrectedByKF

long unsigned int ORB_SLAM2::MapPoint::mnCorrectedByKF

mnCorrectedReference

long unsigned int ORB_SLAM2::MapPoint::mnCorrectedReference

mnFirstFrame

long int ORB_SLAM2::MapPoint::mnFirstFrame

mnFirstKFid

long int ORB_SLAM2::MapPoint::mnFirstKFid

mnFound

int ORB_SLAM2::MapPoint::mnFound

protected

mnFuseCandidateForKF

long unsigned int ORB_SLAM2::MapPoint::mnFuseCandidateForKF

mnId

long unsigned int ORB_SLAM2::MapPoint::mnId

mnLastFrameSeen

long unsigned int ORB_SLAM2::MapPoint::mnLastFrameSeen

mnLoopPointForKF

long unsigned int ORB_SLAM2::MapPoint::mnLoopPointForKF

mNormalVector

cv::Mat ORB_SLAM2::MapPoint::mNormalVector

protected

mnTrackReferenceForFrame

long unsigned int ORB_SLAM2::MapPoint::mnTrackReferenceForFrame

mnTrackScaleLevel

int ORB_SLAM2::MapPoint::mnTrackScaleLevel

mnVisible

int ORB_SLAM2::MapPoint::mnVisible

protected

mObservations

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

protected

mpMap

Map* ORB_SLAM2::MapPoint::mpMap

protected

mPosGBA

cv::Mat ORB_SLAM2::MapPoint::mPosGBA

mpRefKF

KeyFrame* ORB_SLAM2::MapPoint::mpRefKF

protected

mpReplaced

MapPoint* ORB_SLAM2::MapPoint::mpReplaced

protected

mTrackProjX

float ORB_SLAM2::MapPoint::mTrackProjX

mTrackProjXR

float ORB_SLAM2::MapPoint::mTrackProjXR

mTrackProjY

float ORB_SLAM2::MapPoint::mTrackProjY

mTrackViewCos

float ORB_SLAM2::MapPoint::mTrackViewCos

mWorldPos

cv::Mat ORB_SLAM2::MapPoint::mWorldPos

protected

nNextId

long unsigned int ORB_SLAM2::MapPoint::nNextId

static

nObs

int ORB_SLAM2::MapPoint::nObs

---

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

• orbslam2/include/MapPoint.h