Class LpSolveSparsification¶
Defined in File lp-solve-sparsification.h
Inheritance Relationships¶
Base Type¶
public map_sparsification::SamplerBase
(Class SamplerBase)
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¶
-
typedef std::unordered_map<vi_map::LandmarkId, unsigned int> StoreLandmarkIdToIndexMap¶