Class LandmarkSparsifierBase¶

Defined in File landmark-sparsifier-base.h

Class Documentation¶

class map_sparsification::LandmarkSparsifierBase¶

Public Functions

inline virtual ~LandmarkSparsifierBase()¶

inline void setMap(vi_map::VIMap *map)¶

inline void setNumberOfLandmarksToRemove(unsigned int num_of_landmarks_to_remove)¶

inline void setMissionsToSkip(const vi_map::MissionIdSet &missions_to_skip)¶

void sparsifyLandmarks()¶

virtual const std::string &info() const = 0¶

Public Members

LandmarkSparsifierBase

Protected Functions

bool shouldLandmarkBeKept(const vi_map::LandmarkId &landmark_id) const¶

bool removeLandmarkIfMinPointsPerFrameSatisfied(const vi_map::LandmarkId &landmark_id, int min_frame_keypoints)¶

bool removeLandmarkIfTooDistant(const vi_map::LandmarkId &landmark_id, double threshold_meters)¶

bool removeLandmarkIfDescriptorStdDevTooLarge(const vi_map::LandmarkId &landmark_id, double LandmarkId)¶

void getSetOfDeletableLandmarks(vi_map::LandmarkIdSet *landmark_ids) const¶

virtual void sparsifyLandmarksImpl(vi_map::LandmarkIdSet *landmark_ids) = 0¶

Protected Attributes

vi_map::VIMap *map_¶

unsigned int num_of_landmarks_to_remove_¶

vi_map::MissionIdSet missions_to_skip_¶