MapPoint

A 3D point in the SLAM map observed by multiple keyframes. More...

Collaboration diagram for MapPoint:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	MapPoint (const Eigen::Vector3< g_type > &Pos, KeyFrame *pRefKF, Map *pMap)
	Constructs a map point from a keyframe observation.
	MapPoint (const Eigen::Vector3< g_type > &Pos, Map *pMap, Frame *pFrame, uint04 idxF)
	Constructs a map point from a frame observation.
void	SetWorldPos (const Eigen::Vector3< g_type > &Pos)
	Sets the 3D world position.

Detailed Description

A 3D point in the SLAM map observed by multiple keyframes.

MapPoints store their world position, viewing direction, descriptor, observation set, and scale invariance distances. They are created during triangulation and refined through bundle adjustment.

Definition at line 23 of file MapPoint.h.

Constructor & Destructor Documentation

MapPoint() [1/2]

EIGEN_MAKE_ALIGNED_OPERATOR_NEW MapPoint::MapPoint	(	const Eigen::Vector3< g_type > &	Pos,
		KeyFrame *	pRefKF,
		Map *	pMap )

Constructs a map point from a keyframe observation.

Parameters

[in]	Pos	3D world position.
[in]	pRefKF	Reference keyframe.
[in]	pMap	Map this point belongs to.

MapPoint() [2/2]

MapPoint::MapPoint	(	const Eigen::Vector3< g_type > &	Pos,
		Map *	pMap,
		Frame *	pFrame,
		uint04	idxF )

Constructs a map point from a frame observation.

Parameters

[in]	Pos	3D world position.
[in]	pMap	Map this point belongs to.
[in]	pFrame	Source frame.
[in]	idxF	Keypoint index in the frame.

Member Function Documentation

SetWorldPos()

void MapPoint::SetWorldPos

(

const Eigen::Vector3< g_type > &

Pos

)

Sets the 3D world position.

Parameters

[in]

Pos

New world position.

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

• OrbSLAM/Headers/MapPoint.h