MapPointProjection

Projects a map point into a frame and checks frustum visibility. More...

Collaboration diagram for MapPointProjection:

Public Member Functions
	MapPointProjection (const Frame &frame, MapPoint *pMP, fltp04 view_cos_limit)
	Constructs a projection and checks frustum visibility.
bool	checkInFrustum (const Frame &frame, MapPoint *pMP, fltp04 view_cos_limit)
	Checks whether a map point is in the camera frustum and fills tracking data.
bool	isInFrustumChecks (const Frame &frame, MapPoint *pMP, float viewingCosLimit, bool bRight=false)
	Checks frustum visibility for a single view (left or right).

Public Attributes
bool	is_in_frustum = false
	Whether the point is inside the camera frustum.
bool	mbTrackInView = false
	Whether the point is visible in the left view.
bool	mbTrackInViewR = false
	Whether the point is visible in the right view.
float	mTrackDepth
	Depth in the left camera.
float	mTrackDepthR
	Depth in the right camera.
float	mTrackProjX
	Projected x coordinate in the left image.
float	mTrackProjXR
	Projected x coordinate in the right image.
float	mTrackProjY
	Projected y coordinate in the left image.
float	mTrackProjYR
	Projected y coordinate in the right image.
float	mTrackViewCosR
	Viewing cosine angles (left and right).
MapPoint *	reference
	The map point being projected.
uint04	track_scale_levelR
	Predicted scale levels (left and right).

Detailed Description

Projects a map point into a frame and checks frustum visibility.

Stores the projected 2D coordinates, depth, scale level, and viewing cosine for both left and right views, used by the tracking system.

Definition at line 12 of file MapPointProjection.h.

Constructor & Destructor Documentation

MapPointProjection()

MapPointProjection::MapPointProjection ( const Frame & frame, MapPoint * pMP, fltp04 view_cos_limit )

inline

Constructs a projection and checks frustum visibility.

Parameters

[in]	frame	The frame to project into.
[in]	pMP	The map point to project.
[in]	view_cos_limit	Minimum viewing cosine threshold.

Definition at line 32 of file MapPointProjection.h.

References checkInFrustum(), is_in_frustum, and reference.

Member Function Documentation

checkInFrustum()

bool MapPointProjection::checkInFrustum ( const Frame & frame, MapPoint * pMP, fltp04 view_cos_limit )

inline

Checks whether a map point is in the camera frustum and fills tracking data.

Parameters

[in]	frame	The frame to check against.
[in]	pMP	The map point to check.
[in]	view_cos_limit	Minimum viewing cosine threshold.

Returns

True if the point is in the frustum.

Definition at line 44 of file MapPointProjection.h.

References FrameView::camera, Frame::cameraCenter(), FrameInfo::image_bounds, Frame::info(), Frame::inRefCoordinates(), isInFrustumChecks(), IsInvalid(), FrameView::keypoint_count, Frame::m_view, FrameInfo::mbf, mbTrackInView, mbTrackInViewR, mTrackDepth, mTrackProjX, mTrackProjXR, mTrackProjY, GeometricCamera::project(), and track_scale_levelR.

Referenced by MapPointProjection().

isInFrustumChecks()

bool MapPointProjection::isInFrustumChecks ( const Frame & frame, MapPoint * pMP, float viewingCosLimit, bool bRight = false )

inline

Checks frustum visibility for a single view (left or right).

Parameters

[in]	frame	The frame to check against.
[in]	pMP	The map point to check.
[in]	viewingCosLimit	Minimum viewing cosine threshold.
[in]	bRight	True to check the right view.

Returns

True if the point is in the frustum of the specified view.

Definition at line 119 of file MapPointProjection.h.

References FrameView::camera, Frame::cameraCenter(), Frame::GetRelativePoseTlr_translation(), Frame::GetRelativePoseTrl(), Frame::GetRotation(), FrameInfo::image_bounds, Frame::info(), Frame::m_view, mTrackDepth, mTrackDepthR, mTrackProjX, mTrackProjXR, mTrackProjY, mTrackProjYR, mTrackViewCosR, GeometricCamera::project(), Frame::tcw(), and track_scale_levelR.

Referenced by checkInFrustum().

---

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

• OrbSLAM/Headers/MapPointProjection.h