Class PoseInterpolator

Class Documentation

class landmark_triangulation::PoseInterpolator

Public Functions

void getPosesAtTime(const vi_map::VIMap &map, vi_map::MissionId mission_id, const Eigen::Matrix<int64_t, 1, Eigen::Dynamic> &imu_timestamps, aslam::TransformationVector *poses) const
void getPosesEveryNSeconds(const vi_map::VIMap &vi_map, const vi_map::MissionId mission_id, const double timestep_seconds, Eigen::Matrix<int64_t, 1, Eigen::Dynamic> *pose_times, aslam::TransformationVector *poses) const
void getVertexToTimeStampMap(const vi_map::VIMap &map, const vi_map::MissionId &mission_id, VertexToTimeStampMap *vertex_to_time_map, int64_t *min_timestamp_ns = nullptr, int64_t *max_timestamp_ns = nullptr) const
void getVertexTimeStampVector(const vi_map::VIMap &map, const vi_map::MissionId &mission_id, std::vector<int64_t> *vertex_timestamps_nanoseconds) const