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¶