this is the map point class, this class store sparse 3D point. More...

#include <MapPointObject.h>

Inheritance diagram for MapPointObject:

Collaboration diagram for MapPointObject:

Public Types
using	Ptr = std::shared_ptr< MapPointObject >

Public Types inherited from DataFlowObject
using	Ptr = std::shared_ptr< DataFlowObject >
	the shared pointer type of DataFlowObject

Public Member Functions
	MapPointObject ()
	Construct a new MapPointObject object. More...

	MapPointObject (int ID)
	Construct a new MapPointObject object. More...

	~MapPointObject ()
	Destroy the MapPointObject object.

int	getID ()
	Get the Frame ID. More...

int	getObservedTimes ()
	Get the Observed Times. More...

bool	addObservation (std::shared_ptr< FrameObject > Frame, int KeyPointID)
	add one observation More...

bool	removeObservation (std::shared_ptr< FrameObject > Frame)
	remove one observation More...

bool	updateObservation (std::shared_ptr< FrameObject > Frame, int KeyPointID=-1)
	update the observation info More...

bool	getObservation (int FrameID, std::shared_ptr< FrameObject > &Frame, int &KeyPointID)
	Get the Observation object. More...

bool	getAllObservation (std::set< std::shared_ptr< FrameObject > > &Frames)
	Get the All Observation object. More...

bool	getAllObservation (std::set< int > &ids)
	Get all the Observation frame id. More...

bool	setMapPointQuality (double quality)
	Set the Map Point Quality object. More...

double	getMapPointQuality ()
	Get the Map Point Quality object. More...

bool	save (JsonNode &fs) override
	save data and settings to file More...

bool	load (JsonNode &fs) override
	load data and settings from file More...

virtual std::string	type_name () override
	get the typename. More...

Public Member Functions inherited from DataFlowObject
	DataFlowObject ()
	Construct a new Data Flow Object object.

virtual	~DataFlowObject ()
	Destroy the Data Flow Object object.

Public Member Functions inherited from MVSObject
	MVSObject ()
	Construct a new MVSObject object.

virtual	~MVSObject ()
	Destroy the MVSObject object.

virtual bool	save (JsonNode &fs)=0
	save data and settings to file More...

virtual bool	load (JsonNode &fs)=0
	load data and settings from file More...

virtual std::string	type_name ()
	get the typename. More...

Static Public Member Functions
static Ptr	Create (int ID)

Static Public Member Functions inherited from DataFlowObject
static void	cvMat2Sophus (const cv::Mat1d &Mat, Sophus::SE3d &Pose)
	create shared pointer of DataFlowObject, do NOT use this method directly, use the Create() method in derived class. More...

static void	Sophus2cvMat (const Sophus::SE3d &pose, cv::Mat1d &Mat)

static cv::Mat1d	Rt2T (const cv::Mat1d &R, const cv::Mat1d &t)

static std::tuple< cv::Mat1d, cv::Mat1d >	T2Rt (const cv::Mat1d &T)

Public Attributes
cv::Mat	KeyPointDescriptor
	the discriptor of map point related 2D key point

Eigen::Vector4d	Position
	the global coordinate of the map point

Eigen::Vector3d	Normal
	the observation direction of the map point

Friends
std::ostream &	operator<< (std::ostream &os, MapPointObject &obj)

Additional Inherited Members
Protected Member Functions inherited from MVSObject
bool	isDirExist (std::string path)
	check if the directory is exist. More...

bool	mkdir (std::string path)
	create directory in given path. More...

Detailed Description

this is the map point class, this class store sparse 3D point.

Constructor & Destructor Documentation

◆ MapPointObject() [1/2]

MapPointObject::MapPointObject ( )

Construct a new MapPointObject object.

Parameters

ID

Returns

◆ MapPointObject() [2/2]

MapPointObject::MapPointObject ( int ID )

Construct a new MapPointObject object.

Parameters

ID	MapPoint ID

Member Function Documentation

◆ addObservation()

bool MapPointObject::addObservation	(	std::shared_ptr< FrameObject >	Frame,
		int	KeyPointID
	)

add one observation

Parameters

Frame	the frame of observation
KeyPointID	the keypoint id of observation in the frame

Returns: true add succeed; false add failed

◆ Create()

MapPointObject::Ptr MapPointObject::Create ( int ID )

static

Parameters

ID

Returns: Ptr

◆ getAllObservation() [1/2]

bool MapPointObject::getAllObservation ( std::set< int > & ids )

Get all the Observation frame id.

Parameters

ids

Returns

◆ getAllObservation() [2/2]

bool MapPointObject::getAllObservation ( std::set< std::shared_ptr< FrameObject > > & Frames )

Get the All Observation object.

Parameters

Frames vector of pointers of frame

Returns: true get succeed; false get failed

◆ getID()

int MapPointObject::getID ( )

Get the Frame ID.

Returns: int unique MapPoint ID

◆ getMapPointQuality()

double MapPointObject::getMapPointQuality ( )

Get the Map Point Quality object.

Returns: double the map point quality from 0 to 1

◆ getObservation()

bool MapPointObject::getObservation	(	int	FrameID,
		std::shared_ptr< FrameObject > &	Frame,
		int &	KeyPointID
	)

Get the Observation object.

Parameters

FrameID	FrameID
Frame	the shared pointer of frame
KeyPointID	the keypoint id of observation in the frame

Returns: true get succeed; false get failed, may be the observation is not exist

◆ getObservedTimes()

int MapPointObject::getObservedTimes ( )

Get the Observed Times.

Returns: int the times of observation

◆ load()

bool MapPointObject::load ( JsonNode & fs )

overridevirtual

load data and settings from file

this method will load data such as keypoints, descriptors, translation matrices in DataFlowObject and its sub-classes from the given JsonNode instance. or will load parameters and settings in WorkFlowObject and its sub-classes to the given JsonNode instance, and automatically initialize the WorkFlow with these parameters

Parameters

fs	the json handler

Returns: true load successfully; false load failed or initialization falied.

Implements MVSObject.

◆ removeObservation()

bool MapPointObject::removeObservation ( std::shared_ptr< FrameObject > Frame )

remove one observation

Parameters

Frame the frame of observation

Returns: true remove succeed; false remove failed

◆ save()

bool MapPointObject::save ( JsonNode & fs )

overridevirtual

save data and settings to file

this method will save data such as keypoints, descriptors, translation matrices in DataFlowObject and its sub-classes to the given JsonNode instance, or will save parameters and settings in WorkFlowObject and its sub-classes to the given JsonNode instance.

Parameters

fs	the json handler

Returns: true save successfully; false save failed

Implements MVSObject.

◆ setMapPointQuality()

bool MapPointObject::setMapPointQuality ( double quality )

Set the Map Point Quality object.

Parameters

quality the mappoint quality from 0 to 1

Returns: true set succeed; false set faled

◆ type_name()

std::string MapPointObject::type_name ( )

overridevirtual

get the typename.

Returns

Reimplemented from MVSObject.

◆ updateObservation()

bool MapPointObject::updateObservation	(	std::shared_ptr< FrameObject >	Frame,
		int	KeyPointID = `-1`
	)

update the observation info

Parameters

Frame	the pointer of oervation frame
KeyPointID	the keypoint id of observation in the frame

Returns: true update succeed; false update failed, may be the observation is not exist, or input is invalid

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

C:/Users/ZhouZishun/Documents/Workspace/EasyMVS/core/common/MapPointObject.h
C:/Users/ZhouZishun/Documents/Workspace/EasyMVS/core/common/MapPointObject.cpp

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MapPointObject() [1/2]

◆ MapPointObject() [2/2]

Member Function Documentation

◆ addObservation()

◆ Create()

◆ getAllObservation() [1/2]

◆ getAllObservation() [2/2]

◆ getID()

◆ getMapPointQuality()

◆ getObservation()

◆ getObservedTimes()

◆ load()

◆ removeObservation()

◆ save()

◆ setMapPointQuality()

◆ type_name()

◆ updateObservation()