srba::ecps::local_areas_fixed_size Struct Reference

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Detailed Description

Edge creation policy: The sub-map method introduced in the ICRA2013 paper. Keyframes are as submaps of a fixed maximum number of KFs. Loop closure edges are inserted depending on thresholding parameters related to the number of shared observations across distant areas.

Definition at line 22 of file local_areas_fixed_size.h.

#include <local_areas_fixed_size.h>

List of all members.

Classes
struct	parameters_t
Public Member Functions
TKeyFrameID	get_center_kf_for_kf (const TKeyFrameID kf_id, const parameters_t &params) const
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::local_areas_fixed_size::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 61 of file local_areas_fixed_size.h.

TKeyFrameID srba::ecps::local_areas_fixed_size::get_center_kf_for_kf	(	const TKeyFrameID	kf_id,
		const parameters_t &	params
	)		const [inline]

Determines the area/submap of the given KF and returns its center KF (the one defining the submap local origin of coordinates)

Definition at line 51 of file local_areas_fixed_size.h.

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

• srba/ecps/local_areas_fixed_size.h