Class VIMapGenerator

• Defined in File vi-map-generator.h

Nested Relationships

Nested Types

• Struct VIMapGenerator::EdgeInfo

• Struct VIMapGenerator::LandmarkInfo

• Struct VIMapGenerator::ObservationIndices

• Struct VIMapGenerator::VertexInfo

Class Documentation

class vi_map::VIMapGenerator

Public Functions

VIMapGenerator(VIMap &map, int seed)

MissionId createMission()

MissionId createMission(const pose::Transformation &T_G_M)

pose_graph::VertexId createVertex(const MissionId &mission, const pose::Transformation &T_G_I)

pose_graph::VertexId createVertex(const MissionId &mission, const pose::Transformation &T_G_I, const int64_t timestamp_nanoseconds)

vi_map::LandmarkId createLandmark(const Eigen::Vector3d &p_G_fi, const pose_graph::VertexId &storing_vertex, const std::initializer_list<pose_graph::VertexId> &non_storing_observers)

vi_map::LandmarkId createLandmark(const Eigen::Vector3d &p_G_fi, const pose_graph::VertexId &storing_vertex, const pose_graph::VertexIdList &non_storing_observers)

vi_map::LandmarkId createLandmarkWithMissingReferences(const Eigen::Vector3d &p_G_fi, const pose_graph::VertexId &storing_vertex, const std::initializer_list<pose_graph::VertexId> &non_storing_observers, const std::initializer_list<pose_graph::VertexId> &non_referring_observers)

vi_map::LandmarkId createLandmarkWithMissingReferences(const Eigen::Vector3d &p_G_fi, const pose_graph::VertexId &storing_vertex, const pose_graph::VertexIdList &non_storing_observers, const pose_graph::VertexIdList &non_referring_observers)

vi_map::LandmarkId createLandmarkWithoutReferences(const Eigen::Vector3d &p_G_fi, const pose_graph::VertexIdList &non_referring_observers)

void setCameraRig(const std::shared_ptr<aslam::NCamera> &n_camera)

void setDefaultTransformationCovariancePQ(const Eigen::Matrix<double, 6, 6> &covariance_p_q)

template<typename EdgeType = TransformationEdge>
void generateMap() const

Eigen::Matrix2Xd centerMeasurementsOnPrincipalPoint(const Eigen::Matrix2Xd &image_points, const size_t frame_index) const

Public Members

VIMapGenerator