function

SLAM.PoseGraph.RGBDGraphProcessing.Empty

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default	Description
input	`localization`	`RGBDLocalizationCatalog.State`
output	`result`	`State`

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

function Empty
    input RGBDLocalizationCatalog.State localization;
    output State result;
  algorithm
    // A fresh constructor is not a restore operation. Reload carries the
    // complete State, including corrected means and consumed attempts.
    assert(RGBDLocalizationCatalog.ValidHeader(localization)
      and RGBDLocalizationCatalog.ValidEstimator(localization.estimator) and not localization.initialized
      and localization.steps == 0 and localization.catalog.nextId == 1,
      "GraphProcessing.Empty requires a fresh empty localization owner");
    result.estimator := RGBDGraphEstimatorCommit.FromLocalization(localization);
    result.vocabulary := RGBDVisualVocabulary.Empty(localization.generation,
      localization.sourceRevision,localization.catalog.vocabularyVersion);
    result.captures := RGBDGraphCaptureLedger.Empty(localization.generation,localization.sourceRevision);
    result.attempt.generation := localization.generation;
    result.attempt.graphRevision := 0;
    result.attempt.factorProvenance := 0;
    result.anchor := RGBDGraphAnchorBound.Empty(localization.generation,localization.sourceRevision);
    result.selected := EmptySelected(localization.generation,localization.sourceRevision);
  end Empty;