Function map_optimization::addAbsolutePoseConstraintTermsForVertices

Function Documentation

int map_optimization::addAbsolutePoseConstraintTermsForVertices(const bool fix_extrinsics, const std::shared_ptr<ceres::LocalParameterization> &pose_parameterization, const std::shared_ptr<ceres::LocalParameterization> &baseframe_parameterization, const vi_map::MissionId &mission_id, const pose_graph::VertexIdList &vertices, OptimizationProblem *problem)