| 282 | } |
| 283 | |
| 284 | int KeyFrame::GetNumberMPs() |
| 285 | { |
| 286 | unique_lock<mutex> lock(mMutexFeatures); |
| 287 | int numberMPs = 0; |
| 288 | for(size_t i=0, iend=mvpMapPoints.size(); i<iend; i++) |
| 289 | { |
| 290 | if(!mvpMapPoints[i]) |
| 291 | continue; |
| 292 | numberMPs++; |
| 293 | } |
| 294 | return numberMPs; |
| 295 | } |
| 296 | |
| 297 | void KeyFrame::AddMapPoint(MapPoint *pMP, const size_t &idx) |
| 298 | { |