Struct Map 

pub struct Map { /* private fields */ }

A global map containing all 3D points and their observations

Implementations

impl Map

pub fn new(intrinsics: CameraIntrinsics) -> Self

Create a new empty map

pub fn add_points(&mut self, points: Vec<MapPoint>)

Add new points to the map

pub fn points(&self) -> Vec<&MapPoint>

Get all points in the map

pub fn size(&self) -> usize

Get number of points

pub fn find_matches( &mut self, _keypoints: &Vector<KeyPoint>, descriptors: &Mat, pose: &(Matrix3<f64>, Vector3<f64>), matcher: &mut FeatureMatcher, ) -> Result<Vec<(usize, usize)>, Box<dyn Error>>

Find map points visible in current frame and match with features

pub fn update_observations(&mut self, matches: &[(usize, usize)])

Update observations for matched points

pub fn prune_outliers(&mut self) -> usize

Prune bad points (few observations or high reprojection error)

pub fn stable_points(&self) -> Vec<&MapPoint>

Get points with minimum observations (stable points)

pub fn clear(&mut self)

Clear all points