Class LandmarkSparsifierBase¶
Defined in File landmark-sparsifier-base.h
Class Documentation¶
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class
map_sparsification
::
LandmarkSparsifierBase
¶ Public Functions
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inline virtual
~LandmarkSparsifierBase
()¶
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inline void
setNumberOfLandmarksToRemove
(unsigned int num_of_landmarks_to_remove)¶
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inline void
setMissionsToSkip
(const vi_map::MissionIdSet &missions_to_skip)¶
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void
sparsifyLandmarks
()¶
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virtual const std::string &
info
() const = 0¶
Public Members
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LandmarkSparsifierBase
Protected Functions
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bool
shouldLandmarkBeKept
(const vi_map::LandmarkId &landmark_id) const¶
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bool
removeLandmarkIfMinPointsPerFrameSatisfied
(const vi_map::LandmarkId &landmark_id, int min_frame_keypoints)¶
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bool
removeLandmarkIfTooDistant
(const vi_map::LandmarkId &landmark_id, double threshold_meters)¶
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bool
removeLandmarkIfDescriptorStdDevTooLarge
(const vi_map::LandmarkId &landmark_id, double LandmarkId)¶
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void
getSetOfDeletableLandmarks
(vi_map::LandmarkIdSet *landmark_ids) const¶
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virtual void
sparsifyLandmarksImpl
(vi_map::LandmarkIdSet *landmark_ids) = 0¶
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inline virtual