mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::VisitorOptimizeLocalArea Struct Reference

Detailed Description

template<class KF2KF_POSE_TYPE, class LM_TYPE, class OBS_TYPE, class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>
struct mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::VisitorOptimizeLocalArea

Aux visitor struct, used in optimize_local_area()

Definition at line 513 of file RbaEngine.h.

#include <mrpt/srba/RbaEngine.h>

Public Member Functions
	VisitorOptimizeLocalArea (const rba_problem_state_t &rba_state_, const TOptimizeLocalAreaParams &params_)
bool	visit_filter_feat (const TLandmarkID lm_ID, const topo_dist_t cur_dist)
void	visit_feat (const TLandmarkID lm_ID, const topo_dist_t cur_dist)
bool	visit_filter_kf (const TKeyFrameID kf_ID, const topo_dist_t cur_dist)
void	visit_kf (const TKeyFrameID kf_ID, const topo_dist_t cur_dist)
bool	visit_filter_k2k (const TKeyFrameID current_kf, const TKeyFrameID next_kf, const k2k_edge_t *edge, const topo_dist_t cur_dist)
void	visit_k2k (const TKeyFrameID current_kf, const TKeyFrameID next_kf, const k2k_edge_t *edge, const topo_dist_t cur_dist)
bool	visit_filter_k2f (const TKeyFrameID current_kf, const k2f_edge_t *edge, const topo_dist_t cur_dist)
void	visit_k2f (const TKeyFrameID current_kf, const k2f_edge_t *edge, const topo_dist_t cur_dist)

Public Attributes
const rba_problem_state_t &	rba_state
const TOptimizeLocalAreaParams &	params
std::vector< size_t >	k2k_edges_to_optimize
std::vector< size_t >	lm_IDs_to_optimize
std::map< TLandmarkID, size_t >	lm_times_seen

Constructor & Destructor Documentation

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::VisitorOptimizeLocalArea::VisitorOptimizeLocalArea ( const rba_problem_state_t &  rba_state_, const TOptimizeLocalAreaParams &  params_  )

inline

Definition at line 515 of file RbaEngine.h.

Member Function Documentation

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

void mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::VisitorOptimizeLocalArea::visit_feat ( const TLandmarkID  lm_ID, const topo_dist_t  cur_dist  )

inline

Definition at line 533 of file RbaEngine.h.

References MRPT_UNUSED_PARAM.

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

bool mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::VisitorOptimizeLocalArea::visit_filter_feat ( const TLandmarkID  lm_ID, const topo_dist_t  cur_dist  )

inline

Definition at line 527 of file RbaEngine.h.

References MRPT_UNUSED_PARAM.

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

bool mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::VisitorOptimizeLocalArea::visit_filter_k2f ( const TKeyFrameID  current_kf, const k2f_edge_t *  edge, const topo_dist_t  cur_dist  )

inline

Definition at line 571 of file RbaEngine.h.

References MRPT_UNUSED_PARAM, and mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TOptimizeLocalAreaParams::optimize_landmarks.

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

bool mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::VisitorOptimizeLocalArea::visit_filter_k2k ( const TKeyFrameID  current_kf, const TKeyFrameID  next_kf, const k2k_edge_t *  edge, const topo_dist_t  cur_dist  )

inline

Definition at line 553 of file RbaEngine.h.

References MRPT_UNUSED_PARAM.

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

bool mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::VisitorOptimizeLocalArea::visit_filter_kf ( const TKeyFrameID  kf_ID, const topo_dist_t  cur_dist  )

inline

Definition at line 540 of file RbaEngine.h.

References mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TOptimizeLocalAreaParams::max_visitable_kf_id, and MRPT_UNUSED_PARAM.

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

void mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::VisitorOptimizeLocalArea::visit_k2f ( const TKeyFrameID  current_kf, const k2f_edge_t *  edge, const topo_dist_t  cur_dist  )

inline

Definition at line 577 of file RbaEngine.h.

References mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TOptimizeLocalAreaParams::dont_optimize_landmarks_seen_less_than_n_times, mrpt::srba::rba_joint_parameterization_traits_t< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE >::k2f_edge_t::feat_has_known_rel_pos, mrpt::srba::observation_traits< OBS_TRAITS >::observation_t::feat_id, MRPT_UNUSED_PARAM, mrpt::srba::rba_joint_parameterization_traits_t< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE >::kf_observation_t::obs, and mrpt::srba::rba_joint_parameterization_traits_t< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE >::k2f_edge_t::obs.

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

void mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::VisitorOptimizeLocalArea::visit_k2k ( const TKeyFrameID  current_kf, const TKeyFrameID  next_kf, const k2k_edge_t *  edge, const topo_dist_t  cur_dist  )

inline

Definition at line 561 of file RbaEngine.h.

References mrpt::srba::kf2kf_pose_traits< POSE_TRAITS >::k2k_edge_t::id, MRPT_UNUSED_PARAM, and mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TOptimizeLocalAreaParams::optimize_k2k_edges.

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

void mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::VisitorOptimizeLocalArea::visit_kf ( const TKeyFrameID  kf_ID, const topo_dist_t  cur_dist  )

inline

Definition at line 546 of file RbaEngine.h.

References MRPT_UNUSED_PARAM.

Member Data Documentation

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

std::vector<size_t> mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::VisitorOptimizeLocalArea::k2k_edges_to_optimize

Definition at line 523 of file RbaEngine.h.

Referenced by mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::optimize_local_area().

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

std::vector<size_t> mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::VisitorOptimizeLocalArea::lm_IDs_to_optimize

Definition at line 523 of file RbaEngine.h.

Referenced by mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::optimize_local_area().

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

std::map<TLandmarkID,size_t> mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::VisitorOptimizeLocalArea::lm_times_seen

Definition at line 524 of file RbaEngine.h.

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

const TOptimizeLocalAreaParams& mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::VisitorOptimizeLocalArea::params

Definition at line 521 of file RbaEngine.h.

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

const rba_problem_state_t& mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::VisitorOptimizeLocalArea::rba_state

Definition at line 520 of file RbaEngine.h.