Function map_optimization::addRelativePoseTermsForEdges

Function Documentation

int map_optimization::addRelativePoseTermsForEdges(const vi_map::Edge::EdgeType edge_type, const pose_graph::EdgeIdList &provided_edges, const bool fix_extrinsics, const std::shared_ptr<ceres::LocalParameterization> &pose_parameterization, const std::shared_ptr<ceres::LocalParameterization> &quaternion_parameterization, OptimizationProblem *problem)