Class LastSeen
Defined in File descriptor_model.hpp
Inheritance Relationships
Base Type
public slam_mer::utils::DescriptorModel(Class DescriptorModel)
Class Documentation
-
class LastSeen : public slam_mer::utils::DescriptorModel
The LastSeen descriptor model is a simple model that always returns the last descriptor that was added to it.
Public Types
Typedef for shared pointer of type LastSeen.
Public Functions
-
LastSeen() = default
Last Seen descriptor model constructor.
-
~LastSeen() override = default
Last Seen descriptor model destructor.
-
inline virtual output_t<descriptor_t> predict(const pose_t &pose_ = pose_t(), const point3d_t &point_ = point3d_t()) override
Predicts the descriptor for a given pose and point.
- Parameters:
pose_ – The pose for which to predict the descriptor (not used in this model).
point_ – The point for which to predict the descriptor (not used in this model).
- Returns:
The last descriptor that was added to the model.
-
inline virtual void fit(const descriptor_t &descriptor_, const pose_t &pose_ = pose_t(), const point3d_t &point_ = point3d_t()) override
Adds a new descriptor to the model. The current descriptor is updated to be the last one added.
- Parameters:
descriptor_ – The new descriptor to add to the model.
pose_ – The pose of the keyframe that observed the descriptor (not used in this model).
point_ – The 3d point observation associated with the new descriptor (not used in this model).