Class LandmarkSamplingWithCostFunctions¶
Defined in File heuristic-sampling.h
Inheritance Relationships¶
Base Type¶
public map_sparsification::SamplerBase
(Class SamplerBase)
Class Documentation¶
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class
map_sparsification::sampling
::
LandmarkSamplingWithCostFunctions
: public map_sparsification::SamplerBase¶ Public Types
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typedef map_sparsification::cost_functions::SamplingCostFunction
SamplingCostFunction
¶
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typedef map_sparsification::scoring::ScoringFunction
ScoringFunction
¶
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typedef SamplingCostFunction::KeypointPerVertexCountMap
KeyframeKeypointCountMap
¶
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typedef std::pair<vi_map::LandmarkId, double>
StoreLandmarkIdScorePair
¶
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typedef std::unordered_map<vi_map::LandmarkId, double>
LandmarkScoreMap
¶
Public Functions
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void
registerScoringFunction
(const ScoringFunction::ConstPtr &scoring)¶
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void
registerCostFunction
(const SamplingCostFunction::ConstPtr &cost)¶
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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)¶
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inline virtual std::string
getTypeString
() const¶
Public Members
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LandmarkSamplingWithCostFunctions
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typedef map_sparsification::cost_functions::SamplingCostFunction