Class LandmarkSparsifierBase

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_