Class LocalizationSummaryMap¶
Defined in File localization-summary-map.h
Class Documentation¶
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class summary_map::LocalizationSummaryMap¶
Public Functions
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inline void setId(const LocalizationSummaryMapId &localization_summary_map_id)¶
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inline const LocalizationSummaryMapId &id() const¶
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void deserialize(const LocalizationSummaryMapId &localization_summary_map_id, const proto::LocalizationSummaryMap &proto)¶
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bool loadFromFolder(const std::string &folder_path)¶
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bool loadFromFolder(const LocalizationSummaryMapId &summary_map_id, const std::string &folder_path)¶
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bool saveToFolder(const std::string &folder_path, const backend::SaveConfig &config)¶
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void setGLandmarkPosition(const Eigen::Matrix3Xd &G_landmark_position)¶
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void initializeLandmarkIds(int num_landmarks)¶
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void setGObserverPosition(const Eigen::Matrix3Xd &G_observer_position)¶
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void setProjectedDescriptors(const Eigen::MatrixXf &descriptors)¶
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void setObserverIndices(const Eigen::Matrix<unsigned int, Eigen::Dynamic, 1> &observer_indices)¶
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void setObservationToLandmarkIndex(const Eigen::Matrix<unsigned int, Eigen::Dynamic, 1> &observation_to_landmark_index)¶
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const Eigen::Matrix3Xf &GLandmarkPosition() const¶
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const Eigen::Matrix3Xf &GObserverPosition() const¶
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const Eigen::MatrixXf &projectedDescriptors() const¶
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const Eigen::Matrix<unsigned int, Eigen::Dynamic, 1> &observerIndices() const¶
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const Eigen::Matrix<unsigned int, Eigen::Dynamic, 1> &observationToLandmarkIndex() const¶
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bool hasLandmark(const vi_map::LandmarkId &landmark_id) const¶
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Eigen::Vector3d getGLandmarkPosition(const vi_map::LandmarkId &landmark_id) const¶
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bool hasVertex(const pose_graph::VertexId &vertex_id) const¶
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void getAllObserverIds(pose_graph::VertexIdList *observer_ids) const¶
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void getAllLandmarkIds(vi_map::LandmarkIdList *landmark_ids) const¶
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bool operator==(const LocalizationSummaryMap &other) const¶
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bool operator!=(const LocalizationSummaryMap &other) const¶
Public Members
- LocalizationSummaryMap
Public Static Functions
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static bool hasMapOnFileSystem(const std::string &folder_path)¶
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inline void setId(const LocalizationSummaryMapId &localization_summary_map_id)¶