bsfm::Landmark Class Reference

#include <landmark.h>

Public Types
typedef std::shared_ptr< Landmark >	Ptr
typedef std::shared_ptr< const Landmark >	ConstPtr

Public Member Functions
	~Landmark ()
LandmarkIndex	Index () const
void	SetPosition (const Point3D &position)
void	SetDescriptor (const ::bsfm::Descriptor &descriptor)
void	ClearObservations ()
const Point3D &	Position () const
const ::bsfm::Descriptor &	Descriptor () const
const std::vector< Observation::Ptr > &	Observations () const
double *	PositionData ()
bool	IncorporateObservation (const Observation::Ptr &observation, bool retriangulate=true)
std::shared_ptr< View >	SourceView () const
bool	SeenByAtLeastTwoViews (const std::vector< ViewIndex > &view_indices)

Static Public Member Functions
static Landmark::Ptr	Create ()
static Landmark::Ptr	GetLandmark (LandmarkIndex landmark_index)
static LandmarkIndex	NumExistingLandmarks ()
static bool	IsValidLandmark (LandmarkIndex landmark_index)
static void	ResetLandmarks ()

Private Member Functions
	Landmark ()

Static Private Member Functions
static LandmarkIndex	NextLandmarkIndex ()

Private Attributes
Point3D	position_
LandmarkIndex	landmark_index_
std::vector< Observation::Ptr >	observations_
::bsfm::Descriptor	descriptor_

Static Private Attributes
static std::unordered_map< LandmarkIndex, Landmark::Ptr >	landmark_registry_
static LandmarkIndex	current_landmark_index_ = 0

Detailed Description

Definition at line 64 of file landmark.h.

Member Typedef Documentation

typedef std::shared_ptr<const Landmark> bsfm::Landmark::ConstPtr

Definition at line 67 of file landmark.h.

typedef std::shared_ptr<Landmark> bsfm::Landmark::Ptr

Definition at line 66 of file landmark.h.

Constructor & Destructor Documentation

bsfm::Landmark::~Landmark ( )

inline

Definition at line 74 of file landmark.h.

{}

bsfm::Landmark::Landmark ( )

private

Definition at line 222 of file landmark.cpp.

    : position_(Point3D(0.0, 0.0, 0.0)), landmark_index_(NextLandmarkIndex()) {}

Member Function Documentation

void bsfm::Landmark::ClearObservations

(

)

Definition at line 104 of file landmark.cpp.

                                 {
  observations_.clear();
}

Landmark::Ptr bsfm::Landmark::Create ( )

static

Definition at line 50 of file landmark.cpp.

                             {
  // Create a new Landmark, implicitly assigning a unique index.
  Landmark::Ptr landmark(new Landmark());
  landmark_registry_.insert(std::make_pair(landmark->Index(), landmark));
  return landmark;
}

const ::bsfm::Descriptor & bsfm::Landmark::Descriptor

(

)

const

Definition at line 114 of file landmark.cpp.

                                                 {
  return descriptor_;
}

Landmark::Ptr bsfm::Landmark::GetLandmark ( LandmarkIndex  landmark_index )

static

Definition at line 59 of file landmark.cpp.

                                                              {
  auto registry_element = landmark_registry_.find(landmark_index);
  if (registry_element == landmark_registry_.end()) {
    LOG(WARNING)
        << "Landmark does not exist in registry. Returning a null pointer.";
    return Landmark::Ptr();
  }

  return registry_element->second;
}

bool bsfm::Landmark::IncorporateObservation	(	const Observation::Ptr &	observation,
		bool	retriangulate = true
	)

Definition at line 132 of file landmark.cpp.

                                                          {
  CHECK_NOTNULL(observation.get());

  // If this is our first observation, store it, tell the observation that it
  // has been matched with us, and return.
  if (observations_.empty()) {
    observation->SetIncorporatedLandmark(this->Index());
    observations_.push_back(observation);
    descriptor_ = observation->Descriptor();
    return true;
  }

  // Does our own descriptor match with the observation's descriptor?
  std::vector<::bsfm::Descriptor> descriptors;
  descriptors.push_back(descriptor_);
  descriptors.push_back(observation->Descriptor());
  DistanceMetric& distance = DistanceMetric::Instance();
  distance.MaybeNormalizeDescriptors(descriptors);

  if (distance(descriptors[0], descriptors[1]) > distance.Max()) {
    VLOG(1) << "Observation was not matched to landmark " << this->Index();
    return false;
  }

  // Triangulate the landmark's putative position if we were to incorporate the
  // new observation.
  if (retriangulate) {
    std::vector<Camera> cameras;
    std::vector<Feature> features;
    for (const auto& obs : observations_) {
      cameras.push_back(obs->GetView()->Camera());
      features.push_back(obs->Feature());
    }
    cameras.push_back(observation->GetView()->Camera());
    features.push_back(observation->Feature());

    // If triangulation fails, we don't have a match and won't update position.
    Point3D new_position;
    if (!Triangulate(features, cameras, new_position)) {
      return false;
    }
    position_ = new_position;
  }

  // Successfully triangulated the landmark. Update its position and store this
  // observation. Also tell the observation that it has been matched with us.
  observation->SetIncorporatedLandmark(this->Index());
  observations_.push_back(observation);

  return true;
}

LandmarkIndex bsfm::Landmark::Index

(

)

const

Definition at line 89 of file landmark.cpp.

                                    {
  return landmark_index_;
}

bool bsfm::Landmark::IsValidLandmark ( LandmarkIndex  landmark_index )

static

Definition at line 77 of file landmark.cpp.

                                                           {
  return landmark_index <= current_landmark_index_;
}

LandmarkIndex bsfm::Landmark::NextLandmarkIndex ( )

staticprivate

Definition at line 227 of file landmark.cpp.

                                          {
  return current_landmark_index_++;
}

LandmarkIndex bsfm::Landmark::NumExistingLandmarks ( )

static

Definition at line 71 of file landmark.cpp.

                                             {
  return landmark_registry_.size();
}

const std::vector< Observation::Ptr > & bsfm::Landmark::Observations

(

)

const

Definition at line 119 of file landmark.cpp.

                                                              {
  return observations_;
}

const Point3D & bsfm::Landmark::Position

(

)

const

Definition at line 109 of file landmark.cpp.

                                        {
  return position_;
}

double * bsfm::Landmark::PositionData

(

)

Definition at line 126 of file landmark.cpp.

                               {
  return position_.Get().data();
}

void bsfm::Landmark::ResetLandmarks ( )

static

Definition at line 83 of file landmark.cpp.

                              {
  current_landmark_index_ = 0;
  landmark_registry_.clear();
}

bool bsfm::Landmark::SeenByAtLeastTwoViews

(

const std::vector< ViewIndex > &

view_indices

)

Definition at line 198 of file landmark.cpp.

                                                                             {
  unsigned int count = 0;
  for (const auto& view_index : view_indices) {
    // If they gave us a bad input, ignore it and continue.
    if (!View::IsValidView(view_index))
      continue;

    // Make sure this view knows all landmarks its observations have seen.
    View::Ptr view = View::GetView(view_index);
    view->UpdateObservedLandmarks();
    if (view->HasObservedLandmark(this->Index())) {
      count++;
    }

    if (count == 2) {
      return true;
    }
  }

  return false;
}

void bsfm::Landmark::SetDescriptor

(

const ::bsfm::Descriptor &

descriptor

)

Definition at line 99 of file landmark.cpp.

                                                             {
  descriptor_ = descriptor;
}

void bsfm::Landmark::SetPosition

(

const Point3D &

position

)

Definition at line 94 of file landmark.cpp.

                                                  {
  position_ = position;
}

View::Ptr bsfm::Landmark::SourceView

(

)

const

Definition at line 186 of file landmark.cpp.

                                   {
  if (observations_.empty()) {
    LOG(WARNING) << "Landmark has not been associated with any observations, "
                    "so source view is undefined. Returning null pointer.";
    return View::Ptr();
  }

  return observations_.front()->GetView();
}

Member Data Documentation

LandmarkIndex bsfm::Landmark::current_landmark_index_ = 0

staticprivate

Definition at line 157 of file landmark.h.

::bsfm::Descriptor bsfm::Landmark::descriptor_

private

Definition at line 154 of file landmark.h.

LandmarkIndex bsfm::Landmark::landmark_index_

private

Definition at line 142 of file landmark.h.

std::unordered_map< LandmarkIndex, Landmark::Ptr > bsfm::Landmark::landmark_registry_

staticprivate

Definition at line 146 of file landmark.h.

std::vector<Observation::Ptr> bsfm::Landmark::observations_

private

Definition at line 150 of file landmark.h.

Point3D bsfm::Landmark::position_

private

Definition at line 139 of file landmark.h.

---

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

• /Users/eanelson/Git/berkeley_sfm/src/cpp/slam/landmark.h
• /Users/eanelson/Git/berkeley_sfm/src/cpp/slam/landmark.cpp