Class VisualNFrameSimulator¶
Defined in File visual-nframe-simulator.h
Class Documentation¶
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class
simulation
::
VisualNFrameSimulator
¶ Public Functions
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VisualNFrameSimulator
() = default¶
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inline virtual
~VisualNFrameSimulator
()¶
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void
simulateVisualNFrames
(const Eigen::VectorXd ×tamps_seconds, const aslam::TransformationVector &T_G_Bs, const Eigen::Matrix3Xd &G_landmarks, const aslam::NCamera::Ptr &camera_rig, double keypoint_sigma_px, bool add_noise_to_keypoints, size_t num_bits_to_flip, aslam::VisualNFrame::PtrVector *nframe_list, aslam::TransformationVector *poses_without_keypoints)¶ Takes a path generator with a generated path and landmarks and returns a list of Visual NFrames filled with projected landmarks.
- Parameters
[in] timestamps_seconds
: Timestamps in seconds.[in] T_G_Bs
: Transformations taking points from body frame to global frame.[in] G_landmarks
: Landmarks in global frame.[in] camera_rig
: A pointer to a valid camera rig. This rig will be referenced in all the Visual N-Frames.[in] keypoint_sigma_px
: The noise sigma on the keypoints in [px]. This will be used to set the uncertainty matrix in the VisualFrame too. So set this value even if you do not add any noise.[in] add_noise_to_keypoints
: Say yes or no to adding noise to the keypoints. If yes, noise will be sampled acc. to the keypoint variance specified above.[in] num_bits_to_flip
: Number of bits to flip wrt. the ground truth descriptor when generating keypoints for the frames.[out] nframe_list
: List of Visual NFrames filled with projected keypoints.[out] poses_without_keypoints
: Optional. If != nullptr, this returns a list of poses where zero landmarks are seen from.
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const aslam::VisualFrame::DescriptorsT &
getGroundTruthDescriptors
() const¶ Returns a ref to const to the Eigen matrix containing the ground truth descriptors.
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const vi_map::LandmarkIdList &
getGroundTruthLandmarkIds
() const¶ Returns a ref to const to the vector containing the ground truth landmark ids.
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const Eigen::VectorXd &
getGroundTruthLandmarkScores
() const¶ Returns a ref to const to the vector containing the ground truth landmark scores.
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inline const std::vector<size_t> &
getGroundTruthLandmarkObservationCount
()¶
Public Members
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VisualNFrameSimulator
Public Static Attributes
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static constexpr uint32_t
kDescriptorSizeBytes
= 48¶ The descriptor size.
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