package
SLAM.Mapping
Landmark projection, identity and persistent map storage
Landmark ownership
Landmarks retain identity, position and their reference/anchor relationship. RGBDProjectLandmarks transforms valid optical points through camera extrinsics and body pose into world coordinates. Its masks and validity outputs are part of the contract.
RGBDAnchoredLandmarkMap and RGBDLandmarkCatalog provide anchored and catalog representations. Array slots are storage, not permanent feature identities. Preserve anchor and generation metadata across map updates and graph corrections.
An estimated map is uncertain and correlated with the trajectory that built it. Freezing its coordinates does not turn it into independent ground truth. Keep that distinction explicit when using a reconstructed cloud as a synthetic scene or as a navigation observation.
Members
| Name | Kind | Description |
|---|---|---|
| AssignLandmarkAnchors | function | |
| RGBDAnchoredLandmarkMap | model | |
| RGBDAnchoredMapCorrection | model | |
| RGBDCatalogFrame | package | |
| RGBDCatalogMapping | package | |
| RGBDCatalogObservation | package | |
| RGBDCatalogPoseMapping | package | |
| RGBDLandmarkCatalog | package | |
| RGBDLandmarkMap | model | |
| RGBDLandmarkMapInterface | function | |
| RGBDLandmarkProjection | model | |
| RGBDLandmarkRotationCheck | model | |
| RGBDLandmarkRotationValid | function | |
| RGBDMapAnchorUncertainty | package | |
| RGBDMapAnchors | package | |
| RGBDProjectLandmarks | function | |
| RGBDSpatialIndex | package | |
| UpdateAnchoredLandmarkMap | function | |
| UpdateCatalogLandmarkMap | function | |
| UpdateKeyframeLandmarks | function | |
| UpdateLandmarkMap | function | |
| UpdateLandmarkMapWithReceipts | function |
Modelica declarations and implementation
Show parameters, interfaces and source
Parameters, inputs, outputs, defaults and equations from the source file.
package Mapping
"Landmark projection, identity and persistent map storage"
annotation(Documentation(info = "<html>
<h4>Landmark ownership</h4>
<p>Landmarks retain identity, position and their reference/anchor relationship.
<a href=\"modelica://SLAM.Mapping.RGBDProjectLandmarks\">RGBDProjectLandmarks</a>
transforms valid optical points through camera extrinsics and body pose into
world coordinates. Its masks and validity outputs are part of the contract.</p>
<p><a href=\"modelica://SLAM.Mapping.RGBDAnchoredLandmarkMap\">RGBDAnchoredLandmarkMap</a>
and <a href=\"modelica://SLAM.Mapping.RGBDLandmarkCatalog\">RGBDLandmarkCatalog</a>
provide anchored and catalog representations. Array slots are storage, not
permanent feature identities. Preserve anchor and generation metadata across
map updates and graph corrections.</p>
<p>An estimated map is uncertain and correlated with the trajectory that built
it. Freezing its coordinates does not turn it into independent ground truth.
Keep that distinction explicit when using a reconstructed cloud as a synthetic
scene or as a navigation observation.</p>
</html>"));
end Mapping;