Class LocalizationSummaryMap

• Defined in File localization-summary-map.h

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)