Class Landmark

Class Documentation

class vi_map::Landmark

Public Types

enum Quality

Values:

enumerator kUnknown
enumerator kBad
enumerator kGood
enumerator kLocalizationSummaryLandmark

Public Functions

inline Landmark()
inline Landmark(const Landmark &lhs)
inline Landmark &operator=(const Landmark &lhs)
inline const LandmarkId &id() const
inline void setId(const LandmarkId &id)
inline const pose::Position3D &get_p_B() const
inline void set_p_B(const pose::Position3D &p_B)
inline bool get_p_B_Covariance(Eigen::Matrix3d *covariance) const
inline void set_p_B_Covariance(const Eigen::Matrix3d &covariance)
inline void unsetCovariance()
inline void setQuality(Quality quality)
inline Quality getQuality() const
void addObservation(const pose_graph::VertexId &vertex_id, unsigned int frame_idx, unsigned int keypoint_index)
void addObservations(const KeypointIdentifierList &new_observations)
void addObservation(const KeypointIdentifier &keypoint_id)
bool hasObservation(const pose_graph::VertexId &vertex_id, size_t frame_idx, size_t keypoint_index) const
bool hasObservation(const KeypointIdentifier &keypoint_id) const
void removeAllObservationsAccordingToPredicate(const std::function<bool(const KeypointIdentifier&)> &predicate)
void removeAllObservationsOfVertex(const pose_graph::VertexId &vertex_id)
void removeAllObservationsOfVertexAndFrame(const pose_graph::VertexId &vertex_id, unsigned int frame_idx)
void removeObservation(const KeypointIdentifier &observation)
inline void removeObservation(size_t index)
unsigned int numberOfObserverVertices() const
double *get_p_B_Mutable()
double *get_p_B_CovarianceMutable()
const KeypointIdentifierList &getObservations() const
unsigned int numberOfObservations() const
bool hasObservations() const
void clearObservations()
void forEachObservation(const std::function<void(const KeypointIdentifier&)> &action) const
void forEachObservation(const std::function<void(const KeypointIdentifier&, const size_t)> &action) const
int getAppearanceForObservationIndex(size_t observation_index) const
void setAppearance(size_t observation_index, int appearance)
void getAllDistinctAppearances(std::unordered_set<int> *distinct_appearances) const
void getAllObservationsOfAppearance(int appearance, KeypointIdentifierList *observations) const
void allocateAppearances()
inline bool areAppearancesAllocated() const
const std::vector<int> &getAppearances() const
void serialize(vi_map::proto::Landmark *proto) const
void deserialize(const vi_map::proto::Landmark &proto)
inline bool operator==(const Landmark &lhs) const
inline bool operator!=(const Landmark &lhs) const

Public Members

Landmark

Public Static Attributes

static constexpr int kInvalidAppearance = -1
static constexpr int kDefaultAppearance = 0