Class VIMapGenerator¶

Defined in File vi-map-generator.h

Nested Relationships¶

Nested Types¶

Class Documentation¶

class vi_map::VIMapGenerator¶

Public Functions

VIMapGenerator(VIMap &map, int seed)¶

MissionId createMission()¶

MissionId createMission(const pose::Transformation &T_G_M)¶

pose_graph::VertexId createVertex(const MissionId &mission, const pose::Transformation &T_G_I)¶

pose_graph::VertexId createVertex(const MissionId &mission, const pose::Transformation &T_G_I, const int64_t timestamp_nanoseconds)¶

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)¶

vi_map::LandmarkId createLandmark(const Eigen::Vector3d &p_G_fi, const pose_graph::VertexId &storing_vertex, const pose_graph::VertexIdList &non_storing_observers)¶

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)¶

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)¶

vi_map::LandmarkId createLandmarkWithoutReferences(const Eigen::Vector3d &p_G_fi, const pose_graph::VertexIdList &non_referring_observers)¶

void setCameraRig(const std::shared_ptr<aslam::NCamera> &n_camera)¶

void setDefaultTransformationCovariancePQ(const Eigen::Matrix<double, 6, 6> &covariance_p_q)¶

template<typename EdgeType = TransformationEdge> void generateMap() const¶

Eigen::Matrix2Xd centerMeasurementsOnPrincipalPoint(const Eigen::Matrix2Xd &image_points, const size_t frame_index) const¶

Public Members

VIMapGenerator