Class WorldData

Class Documentation

class WorldData

Aggregates map-side world data used for frame localization.

Stores 3D points, descriptors, keyframe observations, and point IDs extracted from keyframes selected into the local buffer.

Public Functions

inline void clear()

Clear all buffered world-data containers.

inline bool empty() const

Check whether world-data buffers are empty.

Returns:

true if no world-data entries are stored, otherwise false.

inline size_t size() const

Get the number of points.

Returns:

Number of points in the buffer.

inline const vector_t<point3d_t::weak_ptr> &points() const

Get buffered 3D point pointers from keyframes.

Returns:

Const reference to buffered world points.

inline const vector_t<descriptor_t> &descriptors() const

Get buffered descriptors associated with world points.

Returns:

Const reference to buffered descriptors.

inline const vector_t<keyframe_id_t::vector> &observations() const

Get keyframe observations associated with buffered points.

Returns:

Const reference to point-observation lists.

inline const point_id_t::vector &point_ids() const

Get map-point IDs associated with buffered world points.

Returns:

Const reference to point ID list.

inline void push_back(const point3d_t::weak_ptr &point_, const descriptor_t &descriptor_, const keyframe_id_t::vector &observation_, const point_id_t &pointId_)

Append one world-data entry to the buffer.

Parameters:

  • point_ – World point pointer.

  • descriptor_ – Descriptor for the world point.

  • observation_ – Keyframes observing this world point.

  • pointId_ – Map-point identifier.

Private Members

vector_t<point3d_t::weak_ptr> _points

Data members: Points.

vector_t<descriptor_t> _descriptors

Data members: Descriptors.

vector_t<keyframe_id_t::vector> _observations

Data members: Observations.

point_id_t::vector _pointIds

Data members: Point IDs.