Class VIMapRelaxation

• Defined in File vi-map-relaxation.h

Class Documentation

class map_optimization::VIMapRelaxation

Public Functions

VIMapRelaxation(const visualization::ViwlsGraphRvizPlotter *plotter, bool signal_handler_enabled)

bool findLoopClosuresAndSolveRelaxation(const vi_map::MissionIdList &mission_id_list, vi_map::VIMap *map)

bool findLoopClosuresAndSolveRelaxation(const ceres::Solver::Options &solver_options, const vi_map::MissionIdList &mission_id_list, vi_map::VIMap *map)

bool solveRelaxation(const ceres::Solver::Options &solver_options, const vi_map::MissionIdSet &mission_ids, vi_map::VIMap *map)