Class LocalizationSummaryMap

Class Documentation

class summary_map::LocalizationSummaryMap

Public Functions

inline void setId(const LocalizationSummaryMapId &localization_summary_map_id)
inline const LocalizationSummaryMapId &id() const
void serialize(proto::LocalizationSummaryMap *proto) const
void deserialize(const LocalizationSummaryMapId &localization_summary_map_id, const proto::LocalizationSummaryMap &proto)
bool loadFromFolder(const std::string &folder_path)
bool loadFromFolder(const LocalizationSummaryMapId &summary_map_id, const std::string &folder_path)
bool saveToFolder(const std::string &folder_path, const backend::SaveConfig &config)
void setGLandmarkPosition(const Eigen::Matrix3Xd &G_landmark_position)
void initializeLandmarkIds(int num_landmarks)
void setGObserverPosition(const Eigen::Matrix3Xd &G_observer_position)
void setProjectedDescriptors(const Eigen::MatrixXf &descriptors)
void setObserverIndices(const Eigen::Matrix<unsigned int, Eigen::Dynamic, 1> &observer_indices)
void setObservationToLandmarkIndex(const Eigen::Matrix<unsigned int, Eigen::Dynamic, 1> &observation_to_landmark_index)
const Eigen::Matrix3Xf &GLandmarkPosition() const
const Eigen::Matrix3Xf &GObserverPosition() const
const Eigen::MatrixXf &projectedDescriptors() const
const Eigen::Matrix<unsigned int, Eigen::Dynamic, 1> &observerIndices() const
const Eigen::Matrix<unsigned int, Eigen::Dynamic, 1> &observationToLandmarkIndex() const
bool hasLandmark(const vi_map::LandmarkId &landmark_id) const
Eigen::Vector3d getGLandmarkPosition(const vi_map::LandmarkId &landmark_id) const
bool hasVertex(const pose_graph::VertexId &vertex_id) const
void getAllObserverIds(pose_graph::VertexIdList *observer_ids) const
void getAllLandmarkIds(vi_map::LandmarkIdList *landmark_ids) const
bool operator==(const LocalizationSummaryMap &other) const
bool operator!=(const LocalizationSummaryMap &other) const

Public Members

LocalizationSummaryMap

Public Static Functions

static bool hasMapOnFileSystem(const std::string &folder_path)