Class StreamVioMapBuilder

Class Documentation

class online_map_builders::StreamVioMapBuilder

Public Functions

StreamVioMapBuilder(const vi_map::SensorManager &sensor_manager, vi_map::VIMap *map)
void apply(const vio::VioUpdate &update)
void apply(const vio::VioUpdate &update, bool deep_copy_nframe)
inline vi_map::MissionId getMissionId() const
pose_graph::VertexId getRootVertexId() const
pose_graph::VertexId getLastVertexId() const
void removeAllVerticesAfterVertexId(const pose_graph::VertexId &vertiex_id_from, pose_graph::VertexIdList *removed_vertex_ids)
bool checkConsistency() const
template<typename PointCloudType>
void attachLidarMeasurement(const vi_map::LidarMeasurement<PointCloudType> &lidar_measurement)