Class VIMapGenerator

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