Interface to the Landmark Manager module. More...

Collaboration diagram for Interface:

Classes
struct	vslam::Point< G >
	Representation of a landmark. More...
class	vslam::Points< G >
Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW void	vslam::Points< G >::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	vslam::Points< G >::deleteLmObs (G &g, const FeatureID< G > &obs)
	Deletes observation of a landmark.
template<class G >
void	vslam::extendLandmarks (typename graph_traits< G >::vertex_descriptor convd, typename graph_traits< G >::vertex_descriptor newvd, Points< G > &points, G &g)
	Extends existing feature tracks.
template<class G >
void	vslam::findNewLandmarks (typename graph_traits< G >::vertex_descriptor convd, typename graph_traits< G >::vertex_descriptor newvd, Points< G > &points, G &g)
	Match scale for the new edge with the rest of the graph and find new landmarks.
bool	vslam::Points< G >::fixNewLandmark (FeatureID< G > fa, FeatureID< G > fm, FeatureID< G > fb, G &g)
	Attempts to create new landmark from set of three features.
bool	vslam::Points< G >::fixNewObservation (FeatureID< G > fa, FeatureID< G > fb, G &g)
	Attempts to add given feature as a new landmark observation.
const Point< G > &	vslam::Points< G >::getPoint (int idx) const
	Get landmark data.
void	vslam::Points< G >::lmEstimateUpd (int lm_id, Vector3d &new_estimate)
	Update of position estimate of a landmark.
void	vslam::Points< G >::lmEstimateUpdChecked (int lm_id, Vector3d &new_estimate)
	Checked update of position estimate of a landmark.
int	vslam::Points< G >::size () const
	Returns total number of landmarks.

Detailed Description

Interface to the Landmark Manager module.

Function Documentation

template<class G>

void vslam::Points< G >::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.

Makes up to 'keep_num' best landmarks visible from 'v' optimalizable.

Definition at line 401 of file landmark_manager.h.

template<class G>

void vslam::Points< G >::deleteLmObs	(	G &	g,
		const FeatureID< G > &	obs
	)

Deletes observation of a landmark.

Postcondition:: Any trace of observation 'obs' in Points and in vertex_fix_idx property of 'g' is deleted and landmark structure Point is updated accordingly.

Definition at line 437 of file landmark_manager.h.

template<class G >

void vslam::extendLandmarks	(	typename graph_traits< G >::vertex_descriptor	convd,
		typename graph_traits< G >::vertex_descriptor	newvd,
		Points< G > &	points,
		G &	g
	)

Extends existing feature tracks.

Adds a feature to a landmark, iff there exists feature-feature match where one of the features is in the landmark and the other is in the vertex newvd and is geometrically consistent.

Note:: This may have to be called twice see, EdgeBuilder::findNewLandmarks

See also:: EdgeBuilder::findNewLandmarks

Definition at line 616 of file landmark_manager.h.

template<class G >

void vslam::findNewLandmarks	(	typename graph_traits< G >::vertex_descriptor	convd,
		typename graph_traits< G >::vertex_descriptor	newvd,
		Points< G > &	points,
		G &	g
	)

Match scale for the new edge with the rest of the graph and find new landmarks.

The function does two things. First, scale of the edge $(convd, newvd)$ is computed based on an edge connecting one of $convd$ and $newvd$ to the rest of the graph.

Second, new landmarks are created. New landmark is created if there exist two feature-feature matches sharing convd vertex, which are geometrically consistent and none of the vertices involved in the feature-feature matches is part of any existing landmark.

$convd$ and $newvd$ are not interchangable. If the edge connects unconnected vertex with the rest * of the graph, the unconnected vertex is passed as newvd and this method is called only once. Othervise it has to be called for both $(convd, newvd)$ and $(newvd, convd)$ edges.

Definition at line 566 of file landmark_manager.h.

template<typename G>

bool vslam::Points< G >::fixNewLandmark	(	FeatureID< G >	fa,
		FeatureID< G >	fm,
		FeatureID< G >	fb,
		G &	g
	)

Attempts to create new landmark from set of three features.

In order for the new landmark to be created, the following must hold:

features must not be associated with any landmark
there must exist geometrically consisten landmark position (determined by reprojection error)

Returns:: true, iff the landmark was created.

Definition at line 483 of file landmark_manager.h.

template<typename G>

bool vslam::Points< G >::fixNewObservation	(	FeatureID< G >	fa,
		FeatureID< G >	fb,
		G &	g
	)

Attempts to add given feature as a new landmark observation.

In order for it to be done, the following must hold:

features must not be associated with any landmark
there must exist geometrically consisten landmark position (determined by reprojection error)

Returns:: true, iff the landmark was created.

Todo:: change initialized to used ?

Todo:: use random estimate here.

Definition at line 518 of file landmark_manager.h.

template<class G >

const Point< G > & vslam::Points< G >::getPoint ( int idx ) const

Get landmark data.

Returns:: read-only landmark data structure for the landmark with index 'idx'.

Definition at line 410 of file landmark_manager.h.

template<class G >

void vslam::Points< G >::lmEstimateUpd	(	int	lm_id,
		Vector3d &	new_estimate
	)

Update of position estimate of a landmark.

Definition at line 416 of file landmark_manager.h.

template<class G >

void vslam::Points< G >::lmEstimateUpdChecked	(	int	lm_id,
		Vector3d &	new_estimate
	)

Checked update of position estimate of a landmark.

Updates position of landmark 'lm_id' and chceks that the estimate is consistent with all landmark observations. If this is not the cas ROS warning message is issued.

Todo:: check if estimate is consistent. if not, then terminate program

Definition at line 426 of file landmark_manager.h.

template<class G >

int vslam::Points< G >::size ( ) const

Returns total number of landmarks.

Definition at line 469 of file landmark_manager.h.

Classes

Functions

Detailed Description

Function Documentation