Interface for adding and removing nodes in the pose-graph. More...
#include <pose_graph.h>
Public Types | |
| typedef cv::Mat | InputType |
Public Member Functions | |
| bool | build (const cv::Mat &image, int image_seq_num, uint64_t pose_timestamp, typename graph_traits< PoseGraphT >::vertex_descriptor &vd, PoseGraphT &g) |
| void | demolish (PoseGraphT &g, Points< PoseGraphT > &points, typename graph_traits< PoseGraphT >::vertex_descriptor &vd) |
| cv::Mat | getPoseImage (const InputType &in) |
Protected Member Functions | |
| OneDetectorNodeBuilder (NMSOptions _nms_options=NMSOptions()) | |
Protected Attributes | |
| shared_ptr< cv::FeatureDetector > | detector |
| shared_ptr < cv::DescriptorExtractor > | extractor |
| shared_ptr< cv::ORB > | feature_2d_detector |
| cv::Mat | mask |
| NMSOptions | nms_options |
Interface for adding and removing nodes in the pose-graph.
Uses common OpenCV interface for keypoints and feature detectors and descriptors.
Definition at line 430 of file pose_graph.h.
