Class Landmark

• Defined in File landmark.h

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