WAIMapPoint Class Reference

#include <WAIMapPoint.h>

Public Types
enum	RefKfSource { RefKfSource_None = 0 , RefKfSource_Constructor = 1 , RefKfSource_EraseObservation = 2 }

Public Member Functions
	WAIMapPoint (int id, const cv::Mat &Pos, bool fixMp)
	constructor used during map loading More...
	WAIMapPoint (const cv::Mat &Pos, WAIKeyFrame *pRefKF)
WAI::V3	worldPosVec ()
WAI::V3	normalVec ()
void	worldPosVec (WAI::V3)
void	SetWorldPos (const cv::Mat &Pos)
cv::Mat	GetWorldPos ()
cv::Mat	GetNormal ()
void	SetNormal (const cv::Mat &normal)
WAIKeyFrame *	GetReferenceKeyFrame ()
std::map< WAIKeyFrame *, size_t >	GetObservations ()
int	Observations ()
void	AddObservation (WAIKeyFrame *pKF, size_t idx)
void	EraseObservation (WAIKeyFrame *pKF)
int	GetIndexInKeyFrame (WAIKeyFrame *pKF)
bool	IsInKeyFrame (WAIKeyFrame *pKF)
void	SetBadFlag ()
bool	isBad ()
void	Replace (WAIMapPoint *pMP)
WAIMapPoint *	GetReplaced ()
void	IncreaseVisible (int n=1)
void	IncreaseFound (int n=1)
float	GetFoundRatio ()
void	ComputeDistinctiveDescriptors ()
cv::Mat	GetDescriptor ()
void	SetDescriptor (const cv::Mat &descriptor)
void	UpdateNormalAndDepth ()
float	GetMinDistanceInvariance ()
float	GetMaxDistanceInvariance ()
int	PredictScale (const float &currentDist, WAIKeyFrame *pF)
int	PredictScale (const float &currentDist, WAIFrame *pF)
WAIKeyFrame *	refKf () const
void	refKf (WAIKeyFrame *refKf)
size_t	getSizeOfCvMat (const cv::Mat &mat)
size_t	getSizeOf ()
bool	isFixed () const
bool	loadedFromMap ()
float	GetMaxDistance ()
float	GetMinDistance ()
void	SetMaxDistance (float maxDist)
void	SetMinDistance (float minDist)

Public Attributes
RefKfSource	refKfSource = RefKfSource_None
long unsigned int	mnId = -1
long int	mnFirstKFid
int	nObs = 0
float	mTrackProjX = 0.0f
float	mTrackProjY = 0.0f
bool	mbTrackInView = false
int	mnTrackScaleLevel = 0
float	mTrackViewCos = 0.0f
long unsigned int	mnLastFrameSeen = 0
int	mnMarker [7]
long unsigned int	mnCorrectedByKF
long unsigned int	mnCorrectedReference
cv::Mat	mPosGBA

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

Protected Attributes
bool	_fixed = false
bool	_loadedFromMap = false
cv::Mat	mWorldPos
std::map< WAIKeyFrame *, size_t >	mObservations
cv::Mat	mNormalVector
cv::Mat	mDescriptor
WAIKeyFrame *	mpRefKF = NULL
int	mnVisible = 0
int	mnFound = 0
bool	mbBad = false
WAIMapPoint *	mpReplaced
float	mfMinDistance = 0.f
float	mfMaxDistance = 0.f
std::mutex	mMutexPos
std::mutex	mMutexFeatures

Member Enumeration Documentation

RefKfSource

enum WAIMapPoint::RefKfSource

Enumerator
RefKfSource_None
RefKfSource_Constructor
RefKfSource_EraseObservation

Constructor & Destructor Documentation

WAIMapPoint() [1/2]

WAIMapPoint::WAIMapPoint	(	int	id,
		const cv::Mat &	Pos,
		bool	fixMp
	)

constructor used during map loading

WAIMapPoint() [2/2]

WAIMapPoint::WAIMapPoint	(	const cv::Mat &	Pos,
		WAIKeyFrame *	pRefKF
	)

Member Function Documentation

AddObservation()

void WAIMapPoint::AddObservation	(	WAIKeyFrame *	pKF,
		size_t	idx
	)

ComputeDistinctiveDescriptors()

void WAIMapPoint::ComputeDistinctiveDescriptors

(

)

EraseObservation()

void WAIMapPoint::EraseObservation

(

WAIKeyFrame *

pKF

)

GetDescriptor()

cv::Mat WAIMapPoint::GetDescriptor

(

)

GetFoundRatio()

float WAIMapPoint::GetFoundRatio

(

)

GetIndexInKeyFrame()

int WAIMapPoint::GetIndexInKeyFrame

(

WAIKeyFrame *

pKF

)

GetMaxDistance()

float WAIMapPoint::GetMaxDistance

(

)

GetMaxDistanceInvariance()

float WAIMapPoint::GetMaxDistanceInvariance

(

)

GetMinDistance()

float WAIMapPoint::GetMinDistance

(

)

GetMinDistanceInvariance()

float WAIMapPoint::GetMinDistanceInvariance

(

)

GetNormal()

cv::Mat WAIMapPoint::GetNormal

(

)

GetObservations()

std::map< WAIKeyFrame *, size_t > WAIMapPoint::GetObservations

(

)

GetReferenceKeyFrame()

WAIKeyFrame * WAIMapPoint::GetReferenceKeyFrame

(

)

GetReplaced()

WAIMapPoint * WAIMapPoint::GetReplaced

(

)

getSizeOf()

size_t WAIMapPoint::getSizeOf

(

)

getSizeOfCvMat()

size_t WAIMapPoint::getSizeOfCvMat

(

const cv::Mat &

mat

)

GetWorldPos()

cv::Mat WAIMapPoint::GetWorldPos

(

)

IncreaseFound()

void WAIMapPoint::IncreaseFound

(

int

n = 1

)

IncreaseVisible()

void WAIMapPoint::IncreaseVisible

(

int

n = 1

)

isBad()

bool WAIMapPoint::isBad

(

)

isFixed()

bool WAIMapPoint::isFixed ( ) const

inline

IsInKeyFrame()

bool WAIMapPoint::IsInKeyFrame

(

WAIKeyFrame *

pKF

)

loadedFromMap()

bool WAIMapPoint::loadedFromMap ( )

inline

normalVec()

WAI::V3 WAIMapPoint::normalVec

(

)

Observations()

int WAIMapPoint::Observations

(

)

PredictScale() [1/2]

int WAIMapPoint::PredictScale	(	const float &	currentDist,
		WAIFrame *	pF
	)

PredictScale() [2/2]

int WAIMapPoint::PredictScale	(	const float &	currentDist,
		WAIKeyFrame *	pF
	)

refKf() [1/2]

WAIKeyFrame * WAIMapPoint::refKf ( ) const

inline

refKf() [2/2]

void WAIMapPoint::refKf ( WAIKeyFrame *  refKf )

inline

Replace()

void WAIMapPoint::Replace

(

WAIMapPoint *

pMP

)

SetBadFlag()

void WAIMapPoint::SetBadFlag

(

)

SetDescriptor()

void WAIMapPoint::SetDescriptor

(

const cv::Mat &

descriptor

)

SetMaxDistance()

void WAIMapPoint::SetMaxDistance

(

float

maxDist

)

SetMinDistance()

void WAIMapPoint::SetMinDistance

(

float

minDist

)

SetNormal()

void WAIMapPoint::SetNormal

(

const cv::Mat &

normal

)

SetWorldPos()

void WAIMapPoint::SetWorldPos

(

const cv::Mat &

Pos

)

UpdateNormalAndDepth()

void WAIMapPoint::UpdateNormalAndDepth

(

)

worldPosVec() [1/2]

WAI::V3 WAIMapPoint::worldPosVec

(

)

worldPosVec() [2/2]

void WAIMapPoint::worldPosVec

(

WAI::V3

vec

)

Member Data Documentation

_fixed

bool WAIMapPoint::_fixed = false

protected

_loadedFromMap

bool WAIMapPoint::_loadedFromMap = false

protected

mbBad

bool WAIMapPoint::mbBad = false

protected

mbTrackInView

bool WAIMapPoint::mbTrackInView = false

mDescriptor

cv::Mat WAIMapPoint::mDescriptor

protected

mfMaxDistance

float WAIMapPoint::mfMaxDistance = 0.f

protected

mfMinDistance

float WAIMapPoint::mfMinDistance = 0.f

protected

mGlobalMutex

mutex WAIMapPoint::mGlobalMutex

static

mMutexFeatures

std::mutex WAIMapPoint::mMutexFeatures

protected

mMutexMapPointCreation

mutex WAIMapPoint::mMutexMapPointCreation

static

mMutexPos

std::mutex WAIMapPoint::mMutexPos

protected

mnCorrectedByKF

long unsigned int WAIMapPoint::mnCorrectedByKF

mnCorrectedReference

long unsigned int WAIMapPoint::mnCorrectedReference

mnFirstKFid

long int WAIMapPoint::mnFirstKFid

mnFound

int WAIMapPoint::mnFound = 0

protected

mnId

long unsigned int WAIMapPoint::mnId = -1

mnLastFrameSeen

long unsigned int WAIMapPoint::mnLastFrameSeen = 0

mnMarker

int WAIMapPoint::mnMarker[7]

mNormalVector

cv::Mat WAIMapPoint::mNormalVector

protected

mnTrackScaleLevel

int WAIMapPoint::mnTrackScaleLevel = 0

mnVisible

int WAIMapPoint::mnVisible = 0

protected

mObservations

std::map<WAIKeyFrame*, size_t> WAIMapPoint::mObservations

protected

mPosGBA

cv::Mat WAIMapPoint::mPosGBA

mpRefKF

WAIKeyFrame* WAIMapPoint::mpRefKF = NULL

protected

mpReplaced

WAIMapPoint* WAIMapPoint::mpReplaced

protected

mTrackProjX

float WAIMapPoint::mTrackProjX = 0.0f

mTrackProjY

float WAIMapPoint::mTrackProjY = 0.0f

mTrackViewCos

float WAIMapPoint::mTrackViewCos = 0.0f

mWorldPos

cv::Mat WAIMapPoint::mWorldPos

protected

nNextId

long unsigned int WAIMapPoint::nNextId = 0

static

nObs

int WAIMapPoint::nObs = 0

refKfSource

RefKfSource WAIMapPoint::refKfSource = RefKfSource_None

---

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

• WAIMapPoint.h
• WAIMapPoint.cpp