isae::ALandmarkInitializer Class Reference

Abstract class for initializing landmarks. More...

#include <alandmarkinitializer.h>

Inheritance diagram for isae::ALandmarkInitializer:

Collaboration diagram for isae::ALandmarkInitializer:

Public Member Functions
	ALandmarkInitializer ()=default
	~ALandmarkInitializer ()
uint	initFromMatch (feature_pair match)
	Initialize landmarks from a feature pair. More...
uint	initFromMatches (vec_match matches)
	Initialize landmarks from a vector of feature matches. More...
uint	initFromFeatures (std::vector< std::shared_ptr< AFeature >> feats)
	Initialize landmarks from a vector of feature tracks. More...

Protected Member Functions
std::shared_ptr< ALandmark >	createNewLandmark (std::shared_ptr< AFeature > f1, std::shared_ptr< AFeature > f2)
	Create a new landmark from a pair of features. More...
virtual bool	initLandmark (std::vector< std::shared_ptr< AFeature >> features, std::shared_ptr< ALandmark > &landmark)=0
	Initialize a landmark from a set of features. More...
virtual bool	initLandmarkWithDepth (std::vector< std::shared_ptr< AFeature >> features, std::shared_ptr< ALandmark > &landmark)=0
	Initialize a landmark from a set of features with depth information. More...
virtual std::shared_ptr< ALandmark >	createNewLandmark (std::shared_ptr< AFeature > f)=0

Detailed Description

Abstract class for initializing landmarks.

This class provides methods to initialize landmarks from feature matches or to update existing landmarks Each novel type of landmark must have its own derived class that implements the specific initialization logic.

Constructor & Destructor Documentation

ALandmarkInitializer()

isae::ALandmarkInitializer::ALandmarkInitializer ( )

default

~ALandmarkInitializer()

isae::ALandmarkInitializer::~ALandmarkInitializer ( )

inline

Member Function Documentation

createNewLandmark() [1/2]

virtual std::shared_ptr<ALandmark> isae::ALandmarkInitializer::createNewLandmark ( std::shared_ptr< AFeature >  f )

protectedpure virtual

Implemented in isae::Line3DLandmarkInitializer.

createNewLandmark() [2/2]

std::shared_ptr< ALandmark > isae::ALandmarkInitializer::createNewLandmark ( std::shared_ptr< AFeature >  f1, std::shared_ptr< AFeature >  f2  )

protected

Create a new landmark from a pair of features.

Parameters

f1	The first feature.
f2	The second feature.

Returns

A shared pointer to the newly created landmark.

initFromFeatures()

uint isae::ALandmarkInitializer::initFromFeatures

(

std::vector< std::shared_ptr< AFeature >>

feats

)

Initialize landmarks from a vector of feature tracks.

Parameters

tracks

The vector of feature tracks to initialize the landmarks from.

Returns

The number of initialized landmarks.

initFromMatch()

uint isae::ALandmarkInitializer::initFromMatch

(

feature_pair

match

)

Initialize landmarks from a feature pair.

Parameters

match

The feature pair to initialize the landmark from.

Returns

The number of initialized landmarks.

initFromMatches()

uint isae::ALandmarkInitializer::initFromMatches

(

vec_match

matches

)

Initialize landmarks from a vector of feature matches.

Parameters

matches

The vector of feature matches to initialize the landmarks from.

Returns

The number of initialized landmarks.

initLandmark()

virtual bool isae::ALandmarkInitializer::initLandmark ( std::vector< std::shared_ptr< AFeature >>  features, std::shared_ptr< ALandmark > &  landmark  )

protectedpure virtual

Initialize a landmark from a set of features.

Parameters

features	A vector of features.
landmark	A shared pointer to the landmark to be initialized.

Returns

True if the landmark was successfully initialized, false otherwise.

Implemented in isae::Line3DLandmarkInitializer.

initLandmarkWithDepth()

virtual bool isae::ALandmarkInitializer::initLandmarkWithDepth ( std::vector< std::shared_ptr< AFeature >>  features, std::shared_ptr< ALandmark > &  landmark  )

protectedpure virtual

Initialize a landmark from a set of features with depth information.

Parameters

features	A vector of features.
landmark	A shared pointer to the landmark to be initialized.

Returns

True if the landmark was successfully initialized with depth, false otherwise.

Implemented in isae::Line3DLandmarkInitializer.

---

The documentation for this class was generated from the following files:

• /home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/include/isaeslam/landmarkinitializer/alandmarkinitializer.h
• /home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/src/landmarkinitializer/alandmarkinitializer.cpp