WAIMap Class Reference

#include <WAIMap.h>

Public Types
enum	TransformType {   ROT_X = 0 , ROT_Y , ROT_Z , TRANS_X , TRANS_Y , TRANS_Z ,   SCALE }

Public Member Functions
	WAIMap (WAIKeyFrameDB *kfDB)
	~WAIMap ()
void	AddKeyFrame (WAIKeyFrame *pKF)
void	AddMapPoint (WAIMapPoint *pMP)
void	EraseMapPoint (WAIMapPoint *pMP)
void	EraseKeyFrame (WAIKeyFrame *pKF)
void	SetReferenceMapPoints (const std::vector< WAIMapPoint * > &vpMPs)
void	InformNewBigChange ()
int	GetLastBigChangeIdx ()
std::vector< WAIKeyFrame * >	GetAllKeyFrames ()
std::vector< WAIMapPoint * >	GetAllMapPoints ()
WAIKeyFrameDB *	GetKeyFrameDB ()
long unsigned int	MapPointsInMap ()
long unsigned int	KeyFramesInMap ()
long unsigned int	GetMaxKFid ()
float	GetSize ()
void	clear ()
void	transform (cv::Mat transform)
void	rotate (float degVal, int type)
void	translate (float value, int type)
void	scale (float value)
void	applyTransformation (double value, TransformType type)
cv::Mat	buildTransMat (float &val, int type)
cv::Mat	buildRotMat (float &valDeg, int type)
size_t	getSizeOf ()
bool	isKeyFrameInMap (WAIKeyFrame *pKF)
void	incNumLoopClosings ()
void	setNumLoopClosings (int n)
int	getNumLoopClosings ()

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

Protected Attributes
std::set< WAIMapPoint * >	mspMapPoints
std::set< WAIKeyFrame * >	mspKeyFrames
std::vector< WAIKeyFrame * >	_deletedKeyFrames
WAIKeyFrameDB *	mKfDB {nullptr}
std::vector< WAIMapPoint * >	mvpReferenceMapPoints
long unsigned int	mnMaxKFid
int	mnBigChangeIdx
std::mutex	mMutexMap
std::mutex	_mutexLoopClosings
int	_numberOfLoopClosings = 0
int	_numOfKeyframes

Member Enumeration Documentation

TransformType

enum WAIMap::TransformType

Enumerator
ROT_X
ROT_Y
ROT_Z
TRANS_X
TRANS_Y
TRANS_Z
SCALE

Constructor & Destructor Documentation

WAIMap()

WAIMap::WAIMap

(

WAIKeyFrameDB *

kfDB

)

~WAIMap()

WAIMap::~WAIMap

(

)

Member Function Documentation

AddKeyFrame()

void WAIMap::AddKeyFrame

(

WAIKeyFrame *

pKF

)

AddMapPoint()

void WAIMap::AddMapPoint

(

WAIMapPoint *

pMP

)

applyTransformation()

void WAIMap::applyTransformation	(	double	value,
		TransformType	type
	)

buildRotMat()

Mat WAIMap::buildRotMat	(	float &	valDeg,
		int	type
	)

buildTransMat()

Mat WAIMap::buildTransMat	(	float &	val,
		int	type
	)

!turn sign of y coordinate

!turn sign of z coordinate

clear()

void WAIMap::clear

(

)

EraseKeyFrame()

void WAIMap::EraseKeyFrame

(

WAIKeyFrame *

pKF

)

EraseMapPoint()

void WAIMap::EraseMapPoint

(

WAIMapPoint *

pMP

)

GetAllKeyFrames()

std::vector< WAIKeyFrame * > WAIMap::GetAllKeyFrames

(

)

GetAllMapPoints()

vector< WAIMapPoint * > WAIMap::GetAllMapPoints

(

)

GetKeyFrameDB()

WAIKeyFrameDB * WAIMap::GetKeyFrameDB ( )

inline

GetLastBigChangeIdx()

int WAIMap::GetLastBigChangeIdx

(

)

GetMaxKFid()

long unsigned int WAIMap::GetMaxKFid

(

)

getNumLoopClosings()

int WAIMap::getNumLoopClosings

(

)

GetSize()

float WAIMap::GetSize

(

)

getSizeOf()

size_t WAIMap::getSizeOf

(

)

incNumLoopClosings()

void WAIMap::incNumLoopClosings

(

)

InformNewBigChange()

void WAIMap::InformNewBigChange

(

)

isKeyFrameInMap()

bool WAIMap::isKeyFrameInMap

(

WAIKeyFrame *

pKF

)

KeyFramesInMap()

long unsigned int WAIMap::KeyFramesInMap

(

)

MapPointsInMap()

long unsigned int WAIMap::MapPointsInMap

(

)

rotate()

void WAIMap::rotate	(	float	degVal,
		int	type
	)

scale()

void WAIMap::scale

(

float

value

)

setNumLoopClosings()

void WAIMap::setNumLoopClosings

(

int

n

)

SetReferenceMapPoints()

void WAIMap::SetReferenceMapPoints

(

const std::vector< WAIMapPoint * > &

vpMPs

)

transform()

void WAIMap::transform

(

cv::Mat

transform

)

translate()

void WAIMap::translate	(	float	value,
		int	type
	)

Member Data Documentation

_deletedKeyFrames

std::vector<WAIKeyFrame*> WAIMap::_deletedKeyFrames

protected

_mutexLoopClosings

std::mutex WAIMap::_mutexLoopClosings

protected

_numberOfLoopClosings

int WAIMap::_numberOfLoopClosings = 0

protected

_numOfKeyframes

int WAIMap::_numOfKeyframes

protected

mKfDB

WAIKeyFrameDB* WAIMap::mKfDB {nullptr}

protected

mMutexMap

std::mutex WAIMap::mMutexMap

protected

mMutexMapUpdate

std::mutex WAIMap::mMutexMapUpdate

mMutexPointCreation

std::mutex WAIMap::mMutexPointCreation

mnBigChangeIdx

int WAIMap::mnBigChangeIdx

protected

mnMaxKFid

long unsigned int WAIMap::mnMaxKFid

protected

mspKeyFrames

std::set<WAIKeyFrame*> WAIMap::mspKeyFrames

protected

mspMapPoints

std::set<WAIMapPoint*> WAIMap::mspMapPoints

protected

mvpKeyFrameOrigins

vector<WAIKeyFrame*> WAIMap::mvpKeyFrameOrigins

mvpReferenceMapPoints

std::vector<WAIMapPoint*> WAIMap::mvpReferenceMapPoints

protected

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

• WAIMap.h
• WAIMap.cpp