srba::ecps::classic_linear_rba Struct Reference

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Detailed Description

Edge creation policy: A linear graph where each KF is always connected to the precedding one. Occasional loop closure edges are also inserted depending on thresholding parameters related to the number of observations whose base KF is too distant.

Definition at line 22 of file classic_linear_rba.h.

#include <classic_linear_rba.h>

List of all members.

Classes
struct	parameters_t
Public Member Functions
template<class traits_t , class rba_engine_t >
void	eval (const TKeyFrameID new_kf_id, const typename traits_t::new_kf_observations_t &obs, std::vector< TNewEdgeInfo > &new_k2k_edge_ids, rba_engine_t &rba_engine, const parameters_t &params)

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Member Function Documentation

template<class traits_t , class rba_engine_t >

void srba::ecps::classic_linear_rba::eval	(	const TKeyFrameID	new_kf_id,
		const typename traits_t::new_kf_observations_t &	obs,
		std::vector< TNewEdgeInfo > &	new_k2k_edge_ids,
		rba_engine_t &	rba_engine,
		const parameters_t &	params
	)		[inline]

Implements the edge-creation policy.

Template Parameters:

traits_t

Use rba_joint_parameterization_traits_t<kf2kf_pose_t,landmark_t,obs_t>

Definition at line 50 of file classic_linear_rba.h.

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The documentation for this struct was generated from the following file:

• srba/ecps/classic_linear_rba.h