svo::Point Class Reference

A 3D point on the surface of the scene. More...

#include <point.h>

List of all members.

Public Types
enum	PointType { TYPE_DELETED, TYPE_CANDIDATE, TYPE_UNKNOWN, TYPE_GOOD }
Public Member Functions
	Point (const Vector3d &pos)
	Point (const Vector3d &pos, Feature *ftr)
	~Point ()
void	addFrameRef (Feature *ftr)
	Add a reference to a frame.
bool	deleteFrameRef (Frame *frame)
	Remove reference to a frame.
void	initNormal ()
	Initialize point normal. The inital estimate will point towards the frame.
Feature *	findFrameRef (Frame *frame)
	Check whether mappoint has reference to a frame.
bool	getCloseViewObs (const Vector3d &pos, Feature *&obs) const
	Get Frame with similar viewpoint.
size_t	nRefs () const
	Get number of observations.
void	optimize (const size_t n_iter)
	Optimize point position through minimizing the reprojection error.
Static Public Member Functions
static void	jacobian_xyz2uv (const Vector3d &p_in_f, const Matrix3d &R_f_w, Matrix23d &point_jac)
	Jacobian of point projection on unit plane (focal length = 1) in frame (f).
Public Attributes
int	id_
	Unique ID of the point.
Vector3d	pos_
	3d pos of the point in the world coordinate frame.
Vector3d	normal_
	Surface normal at point.
Matrix3d	normal_information_
	Inverse covariance matrix of normal estimation.
bool	normal_set_
	Flag whether the surface normal was estimated or not.
list< Feature * >	obs_
	References to keyframes which observe the point.
size_t	n_obs_
	Number of obervations: Keyframes AND successful reprojections in intermediate frames.
g2oPoint *	v_pt_
	Temporary pointer to the point-vertex in g2o during bundle adjustment.
int	last_published_ts_
	Timestamp of last publishing.
int	last_projected_kf_id_
	Flag for the reprojection: don't reproject a pt twice.
PointType	type_
	Quality of the point.
int	n_failed_reproj_
	Number of failed reprojections. Used to assess the quality of the point.
int	n_succeeded_reproj_
	Number of succeeded reprojections. Used to assess the quality of the point.
int	last_structure_optim_
	Timestamp of last point optimization.
Static Public Attributes
static int	point_counter_
	Counts the number of created points. Used to set the unique id.

---

Detailed Description

A 3D point on the surface of the scene.

---

Member Enumeration Documentation

enum svo::Point::PointType

Enumerator:

TYPE_DELETED
TYPE_CANDIDATE
TYPE_UNKNOWN
TYPE_GOOD

---

Constructor & Destructor Documentation

svo::Point::Point

(

const Vector3d &

pos

)

svo::Point::Point	(	const Vector3d &	pos,
		Feature *	ftr
	)

svo::Point::~Point

(

)

---

Member Function Documentation

void svo::Point::addFrameRef

(

Feature *

ftr

)

Add a reference to a frame.

bool svo::Point::deleteFrameRef

(

Frame *

frame

)

Remove reference to a frame.

Feature* svo::Point::findFrameRef

(

Frame *

frame

)

Check whether mappoint has reference to a frame.

bool svo::Point::getCloseViewObs	(	const Vector3d &	pos,
		Feature *&	obs
	)		const

Get Frame with similar viewpoint.

void svo::Point::initNormal

(

)

Initialize point normal. The inital estimate will point towards the frame.

static void svo::Point::jacobian_xyz2uv	(	const Vector3d &	p_in_f,
		const Matrix3d &	R_f_w,
		Matrix23d &	point_jac
	)		[inline, static]

Jacobian of point projection on unit plane (focal length = 1) in frame (f).

size_t svo::Point::nRefs

(

)

const [inline]

Get number of observations.

void svo::Point::optimize

(

const size_t

n_iter

)

Optimize point position through minimizing the reprojection error.

---

Member Data Documentation

int svo::Point::id_

Unique ID of the point.

int svo::Point::last_projected_kf_id_

Flag for the reprojection: don't reproject a pt twice.

int svo::Point::last_published_ts_

Timestamp of last publishing.

int svo::Point::last_structure_optim_

Timestamp of last point optimization.

int svo::Point::n_failed_reproj_

Number of failed reprojections. Used to assess the quality of the point.

size_t svo::Point::n_obs_

Number of obervations: Keyframes AND successful reprojections in intermediate frames.

int svo::Point::n_succeeded_reproj_

Number of succeeded reprojections. Used to assess the quality of the point.

Vector3d svo::Point::normal_

Surface normal at point.

Matrix3d svo::Point::normal_information_

Inverse covariance matrix of normal estimation.

bool svo::Point::normal_set_

Flag whether the surface normal was estimated or not.

list<Feature*> svo::Point::obs_

References to keyframes which observe the point.

int svo::Point::point_counter_ [static]

Counts the number of created points. Used to set the unique id.

Vector3d svo::Point::pos_

3d pos of the point in the world coordinate frame.

PointType svo::Point::type_

Quality of the point.

g2oPoint* svo::Point::v_pt_

Temporary pointer to the point-vertex in g2o during bundle adjustment.

---

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

• include/svo/point.h