Class VIMapGenerator¶
Defined in File vi-map-generator.h
Nested Relationships¶
Class Documentation¶
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class
vi_map
::
VIMapGenerator
¶ Public Functions
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MissionId
createMission
()¶
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MissionId
createMission
(const pose::Transformation &T_G_M)¶
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pose_graph::VertexId
createVertex
(const MissionId &mission, const pose::Transformation &T_G_I)¶
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pose_graph::VertexId
createVertex
(const MissionId &mission, const pose::Transformation &T_G_I, const int64_t timestamp_nanoseconds)¶
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vi_map::LandmarkId
createLandmark
(const Eigen::Vector3d &p_G_fi, const pose_graph::VertexId &storing_vertex, const std::initializer_list<pose_graph::VertexId> &non_storing_observers)¶
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vi_map::LandmarkId
createLandmark
(const Eigen::Vector3d &p_G_fi, const pose_graph::VertexId &storing_vertex, const pose_graph::VertexIdList &non_storing_observers)¶
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vi_map::LandmarkId
createLandmarkWithMissingReferences
(const Eigen::Vector3d &p_G_fi, const pose_graph::VertexId &storing_vertex, const std::initializer_list<pose_graph::VertexId> &non_storing_observers, const std::initializer_list<pose_graph::VertexId> &non_referring_observers)¶
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vi_map::LandmarkId
createLandmarkWithMissingReferences
(const Eigen::Vector3d &p_G_fi, const pose_graph::VertexId &storing_vertex, const pose_graph::VertexIdList &non_storing_observers, const pose_graph::VertexIdList &non_referring_observers)¶
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vi_map::LandmarkId
createLandmarkWithoutReferences
(const Eigen::Vector3d &p_G_fi, const pose_graph::VertexIdList &non_referring_observers)¶
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void
setDefaultTransformationCovariancePQ
(const Eigen::Matrix<double, 6, 6> &covariance_p_q)¶
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template<typename
EdgeType
= TransformationEdge>
voidgenerateMap
() const¶
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Eigen::Matrix2Xd
centerMeasurementsOnPrincipalPoint
(const Eigen::Matrix2Xd &image_points, const size_t frame_index) const¶
Public Members
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VIMapGenerator
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MissionId