vslam_evaluation::FeatureInitsReader Class Reference

#include <FeatureInitsReader.h>

List of all members.


Detailed Description

Read a feature_inits.xml file.

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.
std::vector
< 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).

Classes

struct  FeatureInit
 A feature_init event. More...


Constructor & Destructor Documentation

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!

Parameters:
fn_feature_inits filename of the feature_inits.xml file.


Member Function Documentation

std::vector< FeatureInitsReader::FeatureInit > vslam_evaluation::FeatureInitsReader::getInitsForTimestamp ( double  timestamp,
double  tolerance = 0.0001 
) const

Get a vector of all feature_init events which occur at a given timestamp (+/- tolerance).

Returns:
a vector of FeatureInits.
Parameters:
timestamp identifies a camera frame for which FeatureInits should be returned.
tolerance also return FeatureInits which occur at +/- tolerance around the timestamp.


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

Generated on Mon Jan 11 13:11:57 2010 for VSLAM API by  doxygen 1.5.6