Implementation details of Landmark Manager module. More...

Collaboration diagram for Implementation:

Classes
class	vslam::lmdetails::PointsLoc< G >
	holds all landmarks in the scene. Helps managing landmarks. More...
Namespaces
namespace	vslam::lmdetails
	Implementation details of Landmark Manager module.
Modules
	Landmark Activation and Pruning
	Landmark Position Estimate Consistency Checkers
Functions
void	vslam::lmdetails::PointsLoc< G >::addObservation (const G &g, int idx, FeatureID< G > &f, const Vector3d &estimate)
	Add observation to a landmark.
int	vslam::lmdetails::PointsLoc< G >::create (const G &g, const vector< FeatureID< G > > &observations, const Vector3d &estimate)
	Creates a new landmark with given features as observations and `estimate` as its position.

Detailed Description

Implementation details of Landmark Manager module.

Function Documentation

template<class G>

void vslam::lmdetails::PointsLoc< G >::addObservation	(	const G &	g,
		int	idx,
		FeatureID< G > &	f,
		const Vector3d &	estimate
	)

Add observation to a landmark.

Parameters:

idx	index of the landmark in 'Points<G>'.
estimate	new landmark 3D estimate

Definition at line 146 of file landmark_manager.h.

template<class G>

int vslam::lmdetails::PointsLoc< G >::create	(	const G &	g,
		const vector< FeatureID< G > > &	observations,
		const Vector3d &	estimate
	)

Creates a new landmark with given features as observations and `estimate` as its position.

Parameters:

estimate position of the new landmark wrt. world CF.

Definition at line 116 of file landmark_manager.h.