get map points

[dubing-bit]

Thank you for your work. I have a question, when I used ORB-SLAM3 before, I could use GetTrackedMapPoints()

vector<MapPoint*> System::GetTrackedMapPoints()
{
    unique_lock<mutex> lock(mMutexState);
    return mTrackedMapPoints;
}

to get the map points. does stella_vsalm have such a function? I don't seem to find this feature in system.h?

[AlejandroSilvestri]

Well, yes, but this code doesn't bind it.
It binds get_map_publisher() in order to pass the pointer to a consumer like pangolin viewer.

In stella_vslam map points are called landmarks, a more suitable name.
map_publisher.get_landmarks() gives you all landmarks and local landmarks, the latter being the tracked map points you are looking for, those from local map.

You have two ways to bind it. The long way is binding map_publisher class and landmark class. The short way is adding a C++ written method to bound system to retrieve landmarks for you.

[dubing-bit]

It's not easy for someone like me who is unfamiliar with C++. If there re-execution feature matching and use return pose triangulation, would these landmarks be available?

[AlejandroSilvestri]

Well, it's not easy for anyone. Sadly I can't do it myself right now. Perhaps in the future.

[dubing-bit]

Thank you for your kind words. Wish you all the best and may everything go smoothly for you.

[dubing-bit]

Thanks for your feedback and suggestion, I implemented the get landmark function.I uploaded it to github.