This is useful, if you wan't to force two SLAM runs to initialise the same features. You can take the feature_inits.xml log of the first run, and for the second run replace your New-Feature-Detection mechanism by the FeatureInitsReader.
Public Member Functions
|FeatureInitsReader (const std::string &fn_feature_inits)|
|Create a FeatureInitsReader and read feature_init events from xml file. |
< FeatureInitsReader::FeatureInit >
|getInitsForTimestamp (double timestamp, double tolerance=0.0001) const|
|Get a vector of all feature_init events which occur at a given timestamp (+/- tolerance). |
|A feature_init event. More...|
|vslam_evaluation::FeatureInitsReader::FeatureInitsReader||(||const std::string &||fn_feature_inits||)|
Create a FeatureInitsReader and read feature_init events from xml file.
It is assumed, that feature_init events in the xml file are ascendingly ordered by timestamp!
|fn_feature_inits||filename of the feature_inits.xml file.|
|std::vector< FeatureInitsReader::FeatureInit > vslam_evaluation::FeatureInitsReader::getInitsForTimestamp||(||double||timestamp,|
|double|| tolerance = |
Get a vector of all feature_init events which occur at a given timestamp (+/- tolerance).
|timestamp||identifies a camera frame for which FeatureInits should be returned.|
|tolerance||also return FeatureInits which occur at +/- tolerance around the timestamp.|