Class Landmark¶
Defined in File landmark.h
Class Documentation¶
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class vi_map::Landmark¶
Public Types
Public Functions
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inline Landmark()¶
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inline const LandmarkId &id() const¶
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inline void setId(const LandmarkId &id)¶
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inline const pose::Position3D &get_p_B() const¶
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inline void set_p_B(const pose::Position3D &p_B)¶
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inline bool get_p_B_Covariance(Eigen::Matrix3d *covariance) const¶
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inline void set_p_B_Covariance(const Eigen::Matrix3d &covariance)¶
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inline void unsetCovariance()¶
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void addObservation(const pose_graph::VertexId &vertex_id, unsigned int frame_idx, unsigned int keypoint_index)¶
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void addObservations(const KeypointIdentifierList &new_observations)¶
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void addObservation(const KeypointIdentifier &keypoint_id)¶
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bool hasObservation(const pose_graph::VertexId &vertex_id, size_t frame_idx, size_t keypoint_index) const¶
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bool hasObservation(const KeypointIdentifier &keypoint_id) const¶
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void removeAllObservationsAccordingToPredicate(const std::function<bool(const KeypointIdentifier&)> &predicate)¶
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void removeAllObservationsOfVertex(const pose_graph::VertexId &vertex_id)¶
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void removeAllObservationsOfVertexAndFrame(const pose_graph::VertexId &vertex_id, unsigned int frame_idx)¶
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void removeObservation(const KeypointIdentifier &observation)¶
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inline void removeObservation(size_t index)¶
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unsigned int numberOfObserverVertices() const¶
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double *get_p_B_Mutable()¶
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double *get_p_B_CovarianceMutable()¶
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const KeypointIdentifierList &getObservations() const¶
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unsigned int numberOfObservations() const¶
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bool hasObservations() const¶
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void clearObservations()¶
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void forEachObservation(const std::function<void(const KeypointIdentifier&)> &action) const¶
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void forEachObservation(const std::function<void(const KeypointIdentifier&, const size_t)> &action) const¶
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void serialize(vi_map::proto::Landmark *proto) const¶
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void deserialize(const vi_map::proto::Landmark &proto)¶
Public Members
- Landmark
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inline Landmark()¶