Class PoseGraph¶
Defined in File pose-graph.h
Inheritance Relationships¶
Base Type¶
public pose_graph::PoseGraph
(Class PoseGraph)
Class Documentation¶
-
class
vi_map
::
PoseGraph
: public pose_graph::PoseGraph¶ Public Functions
-
inline virtual
~PoseGraph
()¶
-
void
addVIVertex
(const pose_graph::VertexId &id, const Eigen::Matrix<double, 6, 1> &imu_ba_bw, const Eigen::Matrix<double, 2, Eigen::Dynamic> &img_points, const Eigen::VectorXd &uncertainties, const aslam::VisualFrame::DescriptorsT &descriptors, const std::vector<LandmarkId> &observed_landmarks, const vi_map::MissionId &mission_id, const aslam::FrameId &frame_id, int64_t frame_timestamp, const aslam::NCamera::Ptr cameras)¶
-
void
addVIEdge
(const pose_graph::EdgeId &id, const pose_graph::VertexId &from, const pose_graph::VertexId &to, const Eigen::Matrix<int64_t, 1, Eigen::Dynamic> &imu_timestamps, const Eigen::Matrix<double, 6, Eigen::Dynamic> &imu_data)¶
Public Members
-
PoseGraph
-
inline virtual