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_