landmark_manager.h File Reference

Landmark Manager module.

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#include "utils.h"
#include "pose_graph.h"
#include "graph_utils.h"
#include "error_func.h"
#include <algorithm>
#include <tr1/functional>

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Classes
class	vslam::lmdetails::DisparityLmOrdering< G >
	Defines total ordering of landmarks based on disparity. More...
class	vslam::lmdetails::LandmarkQualityOrdering< G >
struct	vslam::Point< G >
	Representation of a landmark. More...
class	vslam::lmdetails::PointsLoc< G >
	holds all landmarks in the scene. Helps managing landmarks. More...
Namespaces
namespace	vslam
	Namespace containing implementation of visual odometry.
namespace	vslam::lmdetails
	Implementation details of Landmark Manager module.
Defines
#define	VSLAM_REPROJ_ERROR_TOLERANCE   5.0
	max. acceptable reprojection error in consistency checks
Typedefs
typedef ALIGNED < LandmarkObservation > ::vector	vslam::lmdetails::LandmarkObservationVec
typedef Model< Vector3d, LandmarkObservation >	vslam::lmdetails::PointFromLandmarkObservationsModel
Functions
template<class G >
bool	vslam::lmdetails::consistencyCheck (const G &g, FeatureID< G > f1, FeatureID< G > f2, FeatureID< G > f3, Vector3d &estimate)
	Tests if given three features can be used to create new landmark with these observations.
template<class G >
bool	vslam::lmdetails::consistencyCheck (const G &g, const Points< G > &points, FeatureID< G > lmfid, FeatureID< G > nonlmfid, Vector3d &estimate)
	Cheks if a new feature can be used to extend existing 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.
template<class G >
double	vslam::lmdetails::ftrTrackEndToEndDisparity (const G &g, const Point< G > &pt)
	Computes disparity of features from the first sighting to the last sighting.
bool	vslam::lmdetails::landmarkObservationSetConsistency (const LandmarkObservationVec &observations1, const LandmarkObservationVec &observations2, const LandmarkObservationVec &all_observations, Vector3d &global_est)
	Tests if given set of features is consistent set of landmark observations (i.e. feature-landmark associations).
template<class G >
void	vslam::lmdetails::pruneLandmarks (const G &g, PointsLoc< G > &points, typename graph_traits< G >::vertex_descriptor v, int keep_num)

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Detailed Description

Landmark Manager module.

Landmark Manager consists of class Points (landmark representation), functions for checking geometric consistency of set of features and functions for computing initial estimate of landmark position in 3D space.

Landmark manager roughly correponds to file landmark_manager.h, but some forward declarations are also in pose_graph.h

Definition in file landmark_manager.h.