Map

Represents a single SLAM map containing keyframes and map points. More...

Collaboration diagram for Map:

Public Member Functions
	Map (int initKFid, LogPtr log)
	Constructs a map with an initial keyframe ID.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Map (LogPtr log)
	Constructs an empty map.
	~Map ()
	Destructor.
void	AddKeyFrame (KeyFrame *pKF)
	Adds a keyframe to the map.
void	AddMapPoint (MapPoint *pMP)
	Adds a map point to the map.
void	EraseKeyFrame (KeyFrame *pKF)
	Removes a keyframe from the map.
void	EraseMapPoint (MapPoint *pMP)
	Removes a map point from the map.
int	GetLastBigChangeIdx ()
	Returns the index of the last big change.
void	InformNewBigChange ()
	Signals that a big change has occurred (e.g.
void	SetReferenceMapPoints (const Buffer< MapPoint * > &vpMPs)
	Sets the reference map points.
void	updateID ()
	Updates the map ID.

Detailed Description

Represents a single SLAM map containing keyframes and map points.

A Map stores the 3D structure (map points) and camera poses (keyframes) for one continuous mapping session. The Atlas manages multiple maps.

Definition at line 21 of file Map.h.

Constructor & Destructor Documentation

Map() [1/2]

EIGEN_MAKE_ALIGNED_OPERATOR_NEW Map::Map

(

LogPtr

log

)

Constructs an empty map.

Parameters

[in]

log

Logger for diagnostic output.

Map() [2/2]

Map::Map	(	int	initKFid,
		LogPtr	log )

Constructs a map with an initial keyframe ID.

Parameters

[in]	initKFid	Initial keyframe ID.
[in]	log	Logger for diagnostic output.

Member Function Documentation

AddKeyFrame()

void Map::AddKeyFrame

(

KeyFrame *

pKF

)

Adds a keyframe to the map.

Parameters

[in]

pKF

Keyframe to add.

AddMapPoint()

void Map::AddMapPoint

(

MapPoint *

pMP

)

Adds a map point to the map.

Parameters

[in]

pMP

Map point to add.

EraseKeyFrame()

void Map::EraseKeyFrame

(

KeyFrame *

pKF

)

Removes a keyframe from the map.

Parameters

[in]

pKF

Keyframe to remove.

EraseMapPoint()

void Map::EraseMapPoint

(

MapPoint *

pMP

)

Removes a map point from the map.

Parameters

[in]

pMP

Map point to remove.

GetLastBigChangeIdx()

int Map::GetLastBigChangeIdx

(

)

Returns the index of the last big change.

Returns

The big change index.

InformNewBigChange()

void Map::InformNewBigChange

(

)

Signals that a big change has occurred (e.g.

loop closure).

SetReferenceMapPoints()

void Map::SetReferenceMapPoints

(

const Buffer< MapPoint * > &

vpMPs

)

Sets the reference map points.

Parameters

[in]

vpMPs

Buffer of reference map point pointers.

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

• OrbSLAM/Headers/Map.h