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
- 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 ~LandmarkSparsifierBase()¶