A 3D Line landmark class. More...
#include <Line3D.h>
Inheritance diagram for isae::Line3D:
Collaboration diagram for isae::Line3D:
Public Member Functions | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW | Line3D () |
| Line3D (std::vector< Eigen::Vector3d > T_w_l_vector, cv::Mat desc=cv::Mat()) | |
| Line3D (Eigen::Affine3d T_w_l, std::vector< std::shared_ptr< isae::AFeature >> features) | |
| double | chi2err (std::shared_ptr< AFeature > f) override |
| Compute the chi2 error for a given feature. More... | |
 Public Member Functions inherited from isae::ALandmark | |
| ALandmark () | |
| ALandmark (Eigen::Affine3d T_w_l, std::vector< std::shared_ptr< isae::AFeature >> features) | |
| ~ALandmark () | |
| virtual void | init (Eigen::Affine3d T_w_l, std::vector< std::shared_ptr< isae::AFeature >> features) |
| Virtual Function to properly initialize a landmark. More... | |
| void | addFeature (std::shared_ptr< AFeature > feature) |
| std::vector< std::weak_ptr< AFeature > > | getFeatures () |
| void | removeExpiredFeatures () |
| Remove features that are not linked to anything. More... | |
| void | removeFeature (std::shared_ptr< AFeature > f) |
| bool | fuseWithLandmark (std::shared_ptr< ALandmark > landmark) |
| Fuse this landmark with another one, the feature sets are merged. More... | |
| void | setPose (Eigen::Affine3d T_w_l) |
| void | setPosition (Eigen::Vector3d t_w_l) |
| Set only the translation of the landmark pose. More... | |
| Eigen::Affine3d | getPose () const |
| std::vector< Eigen::Vector3d > | getModelPoints () |
| std::shared_ptr< AModel3d > | getModel () const |
| cv::Mat | getDescriptor () const |
| void | setDescriptor (cv::Mat descriptor) |
| bool | isInitialized () const |
| void | setUninitialized () |
| void | setInMap () |
| bool | isInMap () |
| bool | sanityCheck () |
| Check if the landmark is valid in terms of reprojection error and number of features. More... | |
| double | avgChi2err () |
| Compute the average chi2 error for all features associated to the landmark. More... | |
| bool | isOutlier () const |
| void | setOutlier () |
| void | setInlier () |
| bool | isResurected () const |
| void | setResurected () |
| bool | hasPrior () const |
| void | setPrior () |
| bool | isMarg () const |
| void | setMarg () |
Additional Inherited Members | |
| Public Attributes inherited from isae::ALandmark | |
| int | _id |
| Unique id for the landmark, used for bookeeping. More... | |
| std::string | _label |
| Label for the landmark. More... | |
| Static Public Attributes inherited from isae::ALandmark | |
| static int | _landmark_count = 0 |
| Static counter for landmarks, used for unique id generation. More... | |
| Protected Attributes inherited from isae::ALandmark | |
| bool | _initialized = false |
| Flag to check if the landmark is initialized. More... | |
| bool | _in_map = false |
| Flag to check if the landmark is in the map. More... | |
| bool | _outlier = false |
| Flag to check if the landmark is an outlier. More... | |
| bool | _is_resurected = false |
| Flag to check if the landmark has been resurected. More... | |
| bool | _has_prior = false |
| Flag to check if the landmark has a prior. More... | |
| bool | _is_marg = false |
| Flag to check if the landmark is marginalised. More... | |
| Eigen::Affine3d | _T_w_l |
| Landmark pose in world frame. More... | |
| cv::Mat | _descriptor |
| Descriptor of the landmark, used for matching. More... | |
| std::shared_ptr< AModel3d > | _model |
| 3D model of the landmark More... | |
| std::vector< std::weak_ptr< AFeature > > | _features |
| Features associated to the landmark. More... | |
| std::mutex | _lmk_mtx |
Detailed Description
A 3D Line landmark class.
Line3D class represents a 3D line in space, labeled as "linexd".
Constructor & Destructor Documentation
◆ Line3D() [1/3]
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inline |
◆ Line3D() [2/3]
|
inline |
◆ Line3D() [3/3]
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inline |
Member Function Documentation
◆ chi2err()
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overridevirtual |
Compute the chi2 error for a given feature.
Reimplemented from isae::ALandmark.
The documentation for this class was generated from the following files:
- /home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/include/isaeslam/data/landmarks/Line3D.h
- /home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/src/data/landmarks/Line3D.cpp
