Class SixDofPoseGraphGenerator

• Defined in File 6dof-pose-graph-gen.h

Class Documentation

class vi_map::SixDofPoseGraphGenerator

Public Types

typedef std::unordered_map<pose_graph::VertexId, int> VertexIdRotationMap

Public Functions

SixDofPoseGraphGenerator()

inline virtual ~SixDofPoseGraphGenerator()

void constructCamera()

void generatePathAndLandmarks()

void fillPosegraph(int num_of_vertices, double vertex_position_sigma, double vertex_rotation_sigma, const Eigen::Vector3d &gyro_bias, const Eigen::Vector3d &accel_bias, int num_of_no_noise_vertices)

void addInertialResidualBlocks(bool fix_gyro_bias, bool fix_accel_bias)

void addVisualResidualBlocks(bool fix_intrinsics, bool fix_landmark_positions)

void fixFirstVertices(unsigned int num_of_fixed_vertices, bool fix_velocity)

void corruptLandmarkPositions(double sigma)

void solve(int max_num_of_iters)

void copyDataFromPosegraph()

void copyDataToPosegraph()

Public Members

PoseGraph posegraph_

pose_graph::VertexIdList vertex_ids_

std::unordered_map<LandmarkId, Landmark::Ptr> landmarks_

std::unordered_map<LandmarkId, unsigned int> landmark_observation_count_

std::unordered_map<MissionId, std::shared_ptr<VIMission>> missions_

AlignedUnorderedMap<pose_graph::VertexId, Eigen::Vector3d> true_vertex_positions_

AlignedUnorderedMap<pose_graph::VertexId, Eigen::Quaterniond> true_vertex_rotations_

AlignedUnorderedMap<LandmarkId, Eigen::Vector3d> true_landmark_positions_

AlignedUnorderedMap<LandmarkId, aslam::VisualFrame::DescriptorsT> landmark_descriptors_

aslam::NCamera::Ptr cameras_

double distortion_param_

double fu_

double fv_

double cu_

double cv_

double res_u_

double res_v_

test_trajectory_gen::PathAndLandmarkSettings settings_

Eigen::Quaterniond G_q_B_

Eigen::Vector3d G_p_B_

Eigen::Quaterniond C_q_I_

Eigen::Vector3d C_p_I_

Eigen::Matrix3Xd positions_

Eigen::Matrix4Xd rotations_

Eigen::Matrix3Xd velocities_

Eigen::Matrix<double, imu_integrator::kImuReadingSize, Eigen::Dynamic> imu_data_

Eigen::VectorXd imu_timestamps_seconds_

ceres::Problem problem_

ceres::Solver::Summary summary_

Eigen::Matrix<double, 7, 1> base_frame_

VertexIdRotationMap vertex_id_to_pose_idx_

Eigen::Matrix<double, 7, Eigen::Dynamic> keyframe_poses_

Eigen::Matrix<double, 7, 1> dummy_7d_0_

Eigen::Matrix<double, 7, 1> dummy_7d_1_

pose::Transformation C_T_I_JPL_

ceres::LocalParameterization *pose_parameterization_

Public Static Attributes

static constexpr int kNumCameras = 1

static constexpr int kVisualFrameIndex = 0