svo::Map Class Reference

Map object which saves all keyframes which are in a map. More...

#include <map.h>

List of all members.

Public Member Functions
	Map ()
	~Map ()
void	reset ()
	Reset the map. Delete all keyframes and reset the frame and point counters.
void	safeDeletePoint (Point *pt)
	Delete a point in the map and remove all references in keyframes to it.
void	deletePoint (Point *pt)
	Moves the point to the trash queue which is cleaned now and then.
bool	safeDeleteFrame (FramePtr frame)
	Moves the frame to the trash queue which is cleaned now and then.
void	removePtFrameRef (Frame *frame, Feature *ftr)
	Remove the references between a point and a frame.
void	addKeyframe (FramePtr new_keyframe)
	Add a new keyframe to the map.
void	getCloseKeyframes (const FramePtr &frame, list< pair< FramePtr, double > > &close_kfs) const
	Given a frame, return all keyframes which have an overlapping field of view.
FramePtr	getClosestKeyframe (const FramePtr &frame) const
	Return the keyframe which is spatially closest and has overlapping field of view.
FramePtr	getFurthestKeyframe (const Vector3d &pos) const
	Return the keyframe which is furthest apart from pos.
bool	getKeyframeById (const int id, FramePtr &frame) const
void	transform (const Matrix3d &R, const Vector3d &t, const double &s)
	Transform the whole map with rotation R, translation t and scale s.
void	emptyTrash ()
	Empty trash bin of deleted keyframes and map points.
FramePtr	lastKeyframe ()
	Return the keyframe which was last inserted in the map.
size_t	size () const
	Return the number of keyframes in the map.
Public Attributes
list< FramePtr >	keyframes_
	List of keyframes in the map.
list< Point * >	trash_points_
	A deleted point is moved to the trash bin. Now and then this is cleaned. One reason is that the visualizer must remove the points also.
MapPointCandidates	point_candidates_

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Detailed Description

Map object which saves all keyframes which are in a map.

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Constructor & Destructor Documentation

svo::Map::Map

(

)

svo::Map::~Map

(

)

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Member Function Documentation

void svo::Map::addKeyframe

(

FramePtr

new_keyframe

)

Add a new keyframe to the map.

void svo::Map::deletePoint

(

Point *

pt

)

Moves the point to the trash queue which is cleaned now and then.

void svo::Map::emptyTrash

(

)

Empty trash bin of deleted keyframes and map points.

We don't delete the points immediately to ensure proper cleanup and to provide the visualizer a list of objects which must be removed.

void svo::Map::getCloseKeyframes	(	const FramePtr &	frame,
		list< pair< FramePtr, double > > &	close_kfs
	)		const

Given a frame, return all keyframes which have an overlapping field of view.

FramePtr svo::Map::getClosestKeyframe

(

const FramePtr &

frame

)

const

Return the keyframe which is spatially closest and has overlapping field of view.

FramePtr svo::Map::getFurthestKeyframe

(

const Vector3d &

pos

)

const

Return the keyframe which is furthest apart from pos.

bool svo::Map::getKeyframeById	(	const int	id,
		FramePtr &	frame
	)		const

FramePtr svo::Map::lastKeyframe

(

)

[inline]

Return the keyframe which was last inserted in the map.

void svo::Map::removePtFrameRef	(	Frame *	frame,
		Feature *	ftr
	)

Remove the references between a point and a frame.

void svo::Map::reset

(

)

Reset the map. Delete all keyframes and reset the frame and point counters.

bool svo::Map::safeDeleteFrame

(

FramePtr

frame

)

Moves the frame to the trash queue which is cleaned now and then.

void svo::Map::safeDeletePoint

(

Point *

pt

)

Delete a point in the map and remove all references in keyframes to it.

size_t svo::Map::size

(

)

const [inline]

Return the number of keyframes in the map.

void svo::Map::transform	(	const Matrix3d &	R,
		const Vector3d &	t,
		const double &	s
	)

Transform the whole map with rotation R, translation t and scale s.

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Member Data Documentation

list< FramePtr > svo::Map::keyframes_

List of keyframes in the map.

MapPointCandidates svo::Map::point_candidates_

list< Point* > svo::Map::trash_points_

A deleted point is moved to the trash bin. Now and then this is cleaned. One reason is that the visualizer must remove the points also.

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

• include/svo/map.h