determine_kf2kf_edges_to_create.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2015, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */

#pragma once

namespace mrpt { namespace srba {


/** Determines and creates the new kf2fk edges given the set of new observations: */
template <class KF2KF_POSE_TYPE,class LM_TYPE,class OBS_TYPE,class RBA_OPTIONS>
void RbaEngine<KF2KF_POSE_TYPE,LM_TYPE,OBS_TYPE,RBA_OPTIONS>::determine_kf2kf_edges_to_create(
        const TKeyFrameID               new_kf_id,
        const typename traits_t::new_kf_observations_t   & obs,
        std::vector<TNewEdgeInfo> &new_k2k_edge_ids )
{
        new_k2k_edge_ids.clear();

        if (rba_state.keyframes.size()==1)
        {
                // If this is the first KF, there's no other one to which we can connect! -> Return an empty set of edges.
                return;
        }

        edge_creation_policy(new_kf_id,obs,new_k2k_edge_ids);
}

} }  // end namespaces