#include <pose_graph.h>
Public Member Functions | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW void | activateLandmarks (const G &g, typename graph_traits< G >::vertex_descriptor v, int keep_num) |
| Marks best landmarks that are visible from given keyframe as optimalizable. | |
| void | deleteLmObs (G &g, const FeatureID< G > &obs) |
| Deletes observation of a landmark. | |
| bool | fixNewLandmark (FeatureID< G > fa, FeatureID< G > fm, FeatureID< G > fb, G &g) |
| Attempts to create new landmark from set of three features. | |
| bool | fixNewObservation (FeatureID< G > fa, FeatureID< G > fb, G &g) |
| Attempts to add given feature as a new landmark observation. | |
| const Point< G > & | getPoint (int idx) const |
| Get landmark data. | |
| void | lmEstimateUpd (int lm_id, Vector3d &new_estimate) |
| Update of position estimate of a landmark. | |
| void | lmEstimateUpdChecked (int lm_id, Vector3d &new_estimate) |
| Checked update of position estimate of a landmark. | |
| int | size () const |
| Returns total number of landmarks. | |
Private Attributes | |
| lmdetails::PointsLoc< G > | points |
Definition at line 202 of file pose_graph.h.
