Class StreamMapBuilder

Class Documentation

class online_map_builders::StreamMapBuilder

Public Functions

StreamMapBuilder(const vi_map::SensorManager &sensor_manager, vi_map::VIMap *map)
void apply(const vio::MapUpdate &update)
void apply(const vio::MapUpdate &update, bool deep_copy_nframe)
inline vi_map::MissionId getMissionId() const
pose_graph::VertexId getRootVertexId() const
pose_graph::VertexId getLastVertexId() const
void removeAllVerticesAfterVertexId(const pose_graph::VertexId &vertiex_id_from, pose_graph::VertexIdList *removed_vertex_ids)
bool checkConsistency() const
template<typename PointCloudType>
void attachLidarMeasurement(const vi_map::LidarMeasurement<PointCloudType> &lidar_measurement)
void bufferAbsolute6DoFConstraint(const vi_map::Absolute6DoFMeasurement::Ptr &absolute_6dof_constraint)
void bufferLoopClosureConstraint(const vi_map::LoopClosureMeasurement::ConstPtr &loop_closure_constraint)
void bufferWheelOdometryConstraint(const vi_map::WheelOdometryMeasurement::ConstPtr &wheel_odometry_constraint)
template<typename PointCloudType>
void attachPointCloudMap(const vi_map::PointCloudMapSensorMeasurement<PointCloudType> &pointcloud_map_measurement)
void updateMapDependentData()