Class SamplingCostFunction

Inheritance Relationships

Derived Type

Class Documentation

class map_sparsification::cost_functions::SamplingCostFunction

Subclassed by map_sparsification::cost_functions::IsRequiredToConstrainKeyframesCost

Public Types

typedef std::unordered_map<pose_graph::VertexId, unsigned int> KeypointPerVertexCountMap

Public Functions

inline SamplingCostFunction()
inline virtual ~SamplingCostFunction()
inline double operator()(const vi_map::LandmarkId &landmark_id, const vi_map::VIMap &map, const KeypointPerVertexCountMap &keyframe_keypoint_counts) const
inline void setWeight(double weight)
inline void setLossFunction(const std::function<double(double)> &loss_function)

Public Members

SamplingCostFunction