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include/MapPoint.h

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+/**
+* This file is part of ORB-SLAM2.
+*
+* Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza)
+* For more information see <https://github.com/raulmur/ORB_SLAM2>
+*
+* ORB-SLAM2 is free software: you can redistribute it and/or modify
+* it under the terms of the GNU General Public License as published by
+* the Free Software Foundation, either version 3 of the License, or
+* (at your option) any later version.
+*
+* ORB-SLAM2 is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
+*
+* You should have received a copy of the GNU General Public License
+* along with ORB-SLAM2. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef MAPPOINT_H
+#define MAPPOINT_H
+
+#include"KeyFrame.h"
+#include"Frame.h"
+#include"Map.h"
+
+#include<opencv2/core/core.hpp>
+#include<mutex>
+
+namespace ORB_SLAM2
+{
+
+class KeyFrame;
+class Map;
+class Frame;
+
+
+class MapPoint
+{
+public:
+    MapPoint(const cv::Mat &Pos, KeyFrame* pRefKF, Map* pMap);
+    MapPoint(const cv::Mat &Pos,  Map* pMap, Frame* pFrame, const int &idxF);
+
+    void SetWorldPos(const cv::Mat &Pos);
+    cv::Mat GetWorldPos();
+
+    cv::Mat GetNormal();
+    KeyFrame* GetReferenceKeyFrame();
+
+    std::map<KeyFrame*,size_t> GetObservations();
+    int Observations();
+
+    void AddObservation(KeyFrame* pKF,size_t idx);
+    void EraseObservation(KeyFrame* pKF);
+
+    int GetIndexInKeyFrame(KeyFrame* pKF);
+    bool IsInKeyFrame(KeyFrame* pKF);
+
+    void SetBadFlag();
+    bool isBad();
+
+    void Replace(MapPoint* pMP);    
+    MapPoint* GetReplaced();
+
+    void IncreaseVisible(int n=1);
+    void IncreaseFound(int n=1);
+    float GetFoundRatio();
+    inline int GetFound(){
+        return mnFound;
+    }
+
+    void ComputeDistinctiveDescriptors();
+
+    cv::Mat GetDescriptor();
+
+    void UpdateNormalAndDepth();
+
+    float GetMinDistanceInvariance();
+    float GetMaxDistanceInvariance();
+    int PredictScale(const float &currentDist, KeyFrame*pKF);
+    int PredictScale(const float &currentDist, Frame* pF);
+
+public:
+    long unsigned int mnId;
+    static long unsigned int nNextId;
+    long int mnFirstKFid;
+    long int mnFirstFrame;
+    int nObs;
+
+    // Variables used by the tracking
+    float mTrackProjX;
+    float mTrackProjY;
+    float mTrackProjXR;
+    bool mbTrackInView;
+    int mnTrackScaleLevel;
+    float mTrackViewCos;
+    long unsigned int mnTrackReferenceForFrame;
+    long unsigned int mnLastFrameSeen;
+
+    // Variables used by local mapping
+    long unsigned int mnBALocalForKF;
+    long unsigned int mnFuseCandidateForKF;
+
+    // Variables used by loop closing
+    long unsigned int mnLoopPointForKF;
+    long unsigned int mnCorrectedByKF;
+    long unsigned int mnCorrectedReference;    
+    cv::Mat mPosGBA;
+    long unsigned int mnBAGlobalForKF;
+
+
+    static std::mutex mGlobalMutex;
+
+protected:    
+
+     // Position in absolute coordinates
+     cv::Mat mWorldPos;
+
+     // Keyframes observing the point and associated index in keyframe
+     std::map<KeyFrame*,size_t> mObservations;
+
+     // Mean viewing direction
+     cv::Mat mNormalVector;
+
+     // Best descriptor to fast matching
+     cv::Mat mDescriptor;
+
+     // Reference KeyFrame
+     KeyFrame* mpRefKF;
+
+     // Tracking counters
+     int mnVisible;
+     int mnFound;
+
+     // Bad flag (we do not currently erase MapPoint from memory)
+     bool mbBad;
+     MapPoint* mpReplaced;
+
+     // Scale invariance distances
+     float mfMinDistance;
+     float mfMaxDistance;
+
+     Map* mpMap;
+
+     std::mutex mMutexPos;
+     std::mutex mMutexFeatures;
+};
+
+} //namespace ORB_SLAM
+
+#endif // MAPPOINT_H