Class LpSolveSparsification

Inheritance Relationships

Base Type

Class Documentation

class map_sparsification::LpSolveSparsification : public map_sparsification::SamplerBase

Public Types

typedef std::unordered_map<vi_map::LandmarkId, unsigned int> StoreLandmarkIdToIndexMap

Public Functions

inline explicit LpSolveSparsification(unsigned int min_keypoints_per_keyframe)
virtual void sampleMapSegment(const vi_map::VIMap &map, unsigned int desired_num_landmarks, unsigned int time_limit_seconds, const vi_map::LandmarkIdSet &segment_store_landmark_id_set, const pose_graph::VertexIdList &segment_vertex_id_list, vi_map::LandmarkIdSet *summary_store_landmark_ids)
inline virtual std::string getTypeString() const