数据结构
landmark
点云与相关特征点
template<typename Key, typename Value>
using Hash_Map = std::unordered_map<Key, Value>;
using Index_T = uint32_t;
struct Observation
{
Observation():id_feat(UndefinedIndexT) { }
Observation(const Vec2 & p, IndexT idFeat): x(p), id_feat(idFeat) {}
Vec2 x;
IndexT id_feat;
// Serialization
template <class Archive>
void save( Archive & ar) const;
// Serialization
template <class Archive>
void load( Archive & ar);
};
using Observations = Hash_Map<IndexT, Observation>;
struct Landmark {
Vec3 X;
Observations obs;
//...
}
using Landmarks = Hash_map<Index_T, Landmark>;
未完待续……