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)

template<typename EdgeType>
void mergeNeighboringEdges(const pose_graph::VertexId &merge_into_vertex_id, const EdgeType &edge_between_vertices, const EdgeType &edge_after_next_vertex)

Public Members

PoseGraph