isae::Line3DLandmarkInitializer Class Reference

Class for initializing 3D line landmarks. More...

#include <Line3DlandmarkInitializer.h>

Inheritance diagram for isae::Line3DLandmarkInitializer:

Collaboration diagram for isae::Line3DLandmarkInitializer:

Public Member Functions
	Line3DLandmarkInitializer ()=default
Public Member Functions inherited from isae::ALandmarkInitializer
	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
bool	initLandmark (std::vector< std::shared_ptr< AFeature >> features, std::shared_ptr< ALandmark > &landmark) override
	Initialize a landmark from a set of features. More...
bool	initLandmarkWithDepth (std::vector< std::shared_ptr< AFeature >> features, std::shared_ptr< ALandmark > &landmark) override
	Initialize a landmark from a set of features with depth information. More...
std::shared_ptr< ALandmark >	createNewLandmark (std::shared_ptr< AFeature > f) override
Protected Member Functions inherited from isae::ALandmarkInitializer
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...

Static Protected Member Functions
static Eigen::Vector3d	processOrientation (std::vector< Eigen::Vector3d > Ns)
static Eigen::Vector3d	processPosition (std::vector< Eigen::Vector3d > Ns, std::vector< Eigen::Vector3d > Os)
static void	processSegmentPoints (Eigen::Vector3d position, Eigen::Vector3d direction, std::vector< Eigen::Vector3d > Os, std::vector< Eigen::Vector3d > rays_s, std::vector< Eigen::Vector3d > rays_e, Eigen::Vector3d &start, Eigen::Vector3d &end)

Detailed Description

Class for initializing 3D line landmarks.

Constructor & Destructor Documentation

Line3DLandmarkInitializer()

isae::Line3DLandmarkInitializer::Line3DLandmarkInitializer ( )

default

Member Function Documentation

createNewLandmark()

std::shared_ptr< ALandmark > isae::Line3DLandmarkInitializer::createNewLandmark ( std::shared_ptr< AFeature >  f )

overrideprotectedvirtual

Implements isae::ALandmarkInitializer.

initLandmark()

bool isae::Line3DLandmarkInitializer::initLandmark ( std::vector< std::shared_ptr< AFeature >>  features, std::shared_ptr< ALandmark > &  landmark  )

overrideprotectedvirtual

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.

Implements isae::ALandmarkInitializer.

initLandmarkWithDepth()

bool isae::Line3DLandmarkInitializer::initLandmarkWithDepth ( std::vector< std::shared_ptr< AFeature >>  features, std::shared_ptr< ALandmark > &  landmark  )

overrideprotectedvirtual

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.

Implements isae::ALandmarkInitializer.

processOrientation()

Eigen::Vector3d isae::Line3DLandmarkInitializer::processOrientation ( std::vector< Eigen::Vector3d >  Ns )

staticprotected

processPosition()

Eigen::Vector3d isae::Line3DLandmarkInitializer::processPosition ( std::vector< Eigen::Vector3d >  Ns, std::vector< Eigen::Vector3d >  Os  )

staticprotected

processSegmentPoints()

void isae::Line3DLandmarkInitializer::processSegmentPoints ( Eigen::Vector3d  position, Eigen::Vector3d  direction, std::vector< Eigen::Vector3d >  Os, std::vector< Eigen::Vector3d >  rays_s, std::vector< Eigen::Vector3d >  rays_e, Eigen::Vector3d &  start, Eigen::Vector3d &  end  )

staticprotected

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

• /home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/include/isaeslam/landmarkinitializer/Line3DlandmarkInitializer.h
• /home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/src/landmarkinitializer/Line3DlandmarkInitializer.cpp