Implementation details of Landmark Manager module.
More...Classes | |
| class | DisparityLmOrdering |
| Defines total ordering of landmarks based on disparity. More... | |
| class | LandmarkQualityOrdering |
| class | PointsLoc |
| holds all landmarks in the scene. Helps managing landmarks. More... | |
Typedefs | |
| typedef ALIGNED < LandmarkObservation > ::vector | LandmarkObservationVec |
| typedef Model< Vector3d, LandmarkObservation > | PointFromLandmarkObservationsModel |
Functions | |
| template<class G > | |
| bool | 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 | 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 > | |
| double | ftrTrackEndToEndDisparity (const G &g, const Point< G > &pt) |
| Computes disparity of features from the first sighting to the last sighting. | |
| bool | 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 | pruneLandmarks (const G &g, PointsLoc< G > &points, typename graph_traits< G >::vertex_descriptor v, int keep_num) |
Implementation details of Landmark Manager module.
