Class Vertex¶

Defined in File vertex.h

Inheritance Relationships¶

Base Type¶

public pose_graph::Vertex (Class Vertex)

Class Documentation¶

class vi_map::Vertex : public pose_graph::Vertex ¶

Public Types

typedef std::vector<backend::ResourceTypeToIdsMap> FrameResourceMap¶

Public Functions

Vertex(const pose_graph::VertexId &vertex_id, const Eigen::Matrix<double, 6, 1> &imu_ba_bw, const Eigen::Matrix2Xd &img_points_distorted, const Eigen::VectorXd &uncertainties, const aslam::VisualFrame::DescriptorsT &descriptors, const Eigen::VectorXd &descriptor_scales, const std::vector<LandmarkId> &observed_landmark_ids, const vi_map::MissionId &mission_id, const aslam::FrameId &frame_id, int64_t frame_timestamp, const aslam::NCamera::Ptr cameras)¶

Vertex(const pose_graph::VertexId &vertex_id, const Eigen::Matrix<double, 6, 1> &imu_ba_bw, const Eigen::Matrix2Xd &img_points_distorted, const Eigen::VectorXd &uncertainties, const aslam::VisualFrame::DescriptorsT &descriptors, const std::vector<LandmarkId> &observed_landmark_ids, const vi_map::MissionId &mission_id, const aslam::FrameId &frame_id, int64_t frame_timestamp, const aslam::NCamera::Ptr cameras)¶

Vertex(const pose_graph::VertexId &vertex_id, const Eigen::Matrix<double, 6, 1> &imu_ba_bw, const aslam::VisualNFrame::Ptr visual_n_frame, const std::vector<std::vector<LandmarkId>> &n_frame_landmarks, const vi_map::MissionId &mission_id)¶

Vertex(const pose_graph::VertexId &vertex_id, const aslam::VisualNFrame::Ptr visual_n_frame, const vi_map::MissionId &mission_id)¶

explicit Vertex(const aslam::NCamera::Ptr cameras)¶

Vertex *cloneWithVisualNFrame(const aslam::NCamera::Ptr ncamera_for_cloned_vertex) const¶

Vertex *cloneWithoutVisualNFrame() const¶

Vertex()¶

inline virtual ~Vertex()¶

Vertex(const Vertex&) = delete¶

Vertex &operator=(const Vertex&) = delete¶

virtual const pose_graph::VertexId &id() const¶

void setId(const pose_graph::VertexId &id)¶

void set_T_M_I(const pose::Transformation &T_M_I)¶

void set_p_M_I(const Eigen::Vector3d &p_M_I)¶

void set_q_M_I(const Eigen::Quaterniond &q_M_I)¶

void set_v_M(const Eigen::Vector3d &v_M)¶

void setAccelBias(const Eigen::Vector3d &accel_bias)¶

void setGyroBias(const Eigen::Vector3d &gyro_bias)¶

virtual bool addIncomingEdge(const pose_graph::EdgeId &edge)¶

virtual bool addOutgoingEdge(const pose_graph::EdgeId &edge)¶

virtual void getOutgoingEdges(pose_graph::EdgeIdSet *edges) const¶

virtual void getIncomingEdges(pose_graph::EdgeIdSet *edges) const¶

virtual void getAllEdges(pose_graph::EdgeIdSet *edges) const¶

virtual bool hasIncomingEdges() const¶

virtual bool hasOutgoingEdges() const¶

size_t numOutgoingEdges() const¶

virtual void removeIncomingEdge(const pose_graph::EdgeId &edge_id)¶

virtual void removeOutgoingEdge(const pose_graph::EdgeId &edge_id)¶

double *get_q_M_I_Mutable()¶

double *get_p_M_I_Mutable()¶

double *get_v_M_Mutable()¶

double *getAccelBiasMutable()¶

double *getGyroBiasMutable()¶

const pose::Transformation &get_T_M_I() const¶

const Eigen::Quaterniond &get_q_M_I() const¶

const Eigen::Vector3d &get_p_M_I() const¶

const Eigen::Vector3d &get_v_M() const¶

const Eigen::Vector3d &getAccelBias() const¶

const Eigen::Vector3d &getGyroBias() const¶

const LandmarkId &getObservedLandmarkId(unsigned int frame_idx, int keypoint_idx) const¶

const LandmarkId &getObservedLandmarkId(const KeypointIdentifier &keypoint_id) const¶

void setObservedLandmarkId(const KeypointIdentifier &keypoint_id, const LandmarkId &landmark_id)¶

void setObservedLandmarkId(unsigned int frame_idx, int keypoint_idx, const LandmarkId &landmark_id)¶

size_t observedLandmarkIdsSize(unsigned int frame_idx) const¶

int numValidObservedLandmarkIds(unsigned int frame_idx) const¶

int numValidObservedLandmarkIdsInAllFrames() const¶

void getFrameObservedLandmarkIds(unsigned int frame_idx, LandmarkIdList *landmark_ids) const¶

const LandmarkIdList &getFrameObservedLandmarkIds(unsigned int frame_idx) const¶

void getAllObservedLandmarkIds(LandmarkIdList *landmark_ids) const¶

void getAllObservedLandmarkIds(std::vector<LandmarkIdList> *landmark_ids) const¶

size_t getNumLandmarkObservations(const LandmarkId &landmark_id) const¶

void forEachKeypoint(const std::function<void(const KeypointIdentifier&)> &action) const¶

void forEachFrame(const std::function<void(const unsigned int frame_idx, const aslam::VisualFrame &frame)> &action) const¶

inline const vi_map::MissionId &getMissionId() const¶

inline void setMissionId(const vi_map::MissionId &mission_id)¶

inline bool hasVisualNFrame() const¶

inline aslam::VisualNFrame &getVisualNFrame()¶

inline const aslam::VisualNFrame &getVisualNFrame() const¶

inline aslam::VisualNFrame::Ptr &getVisualNFrameShared()¶

inline aslam::VisualNFrame::ConstPtr getVisualNFrameShared() const¶

inline size_t numFrames() const¶

inline bool isVisualFrameSet(unsigned int frame_idx) const¶

inline bool isVisualFrameValid(unsigned int frame_idx) const¶

inline aslam::VisualFrame &getVisualFrame(unsigned int frame_idx)¶

inline aslam::VisualFrame::Ptr getVisualFrameShared(unsigned int frame_idx)¶

inline aslam::VisualFrame::Ptr getVisualFrameShared(aslam::FrameId frame_id)¶

inline unsigned int getVisualFrameIndex(aslam::FrameId frame_id) const¶

inline const aslam::VisualFrame &getVisualFrame(unsigned int frame_idx) const¶

inline const aslam::VisualFrame::ConstPtr getVisualFrameShared(unsigned int frame_idx) const¶

inline aslam::NCamera::ConstPtr getNCameras() const¶

inline aslam::Camera::ConstPtr getCamera(unsigned int frame_idx) const¶

inline aslam::Camera::Ptr getCamera(unsigned int frame_idx)¶

inline void setCamera(unsigned int frame_idx, const aslam::Camera::Ptr &camera)¶

inline void setNCameras(const aslam::NCamera::Ptr &n_cameras)¶

inline LandmarkStore &getLandmarks()¶

inline const LandmarkStore &getLandmarks() const¶

void getStoredLandmarkIdList(LandmarkIdList *landmark_id_list) const¶

bool hasStoredLandmark(const LandmarkId &landmark_id) const¶

pose::Position3D getLandmark_p_LM_fi(const LandmarkId &landmark_id) const¶

void setLandmark_LM_p_fi(const vi_map::LandmarkId &landmark_id, const Eigen::Vector3d &LM_p_fi)¶

inline void setLandmarks(const LandmarkStore &landmark_store)¶

void setFrameAndLandmarkObservations(aslam::VisualNFrame::Ptr visual_n_frame, const std::vector<std::vector<LandmarkId>> &img_landmarks)¶

void resetObservedLandmarkIdsToInvalid()¶

inline void forEachUnassociatedKeypoint(const unsigned int frame_idx, const std::function<void(const int keypoint_index)> &action) const¶

inline void getUnassociatedKeypoints(const unsigned int frame_idx, std::vector<int> *result) const¶

bool isFrameIndexValid(unsigned int frame_idx) const¶

bool areFrameAndKeypointIndicesValid(unsigned int frame_idx, int keypoint_idx) const¶

void checkConsistencyOfVisualObservationContainers() const¶

const FrameResourceMap &getFrameResourceMap() const¶

void setFrameResourceMap(const FrameResourceMap &frame_resource_map)¶

bool hasFrameResourceOfType(const unsigned int frame_idx, const backend::ResourceType &type) const¶

bool hasFrameResourceWithId(const unsigned int frame_idx, const backend::ResourceId &resource_id) const¶

void getFrameResourceIdsOfType(const unsigned int frame_idx, const backend::ResourceType &type, backend::ResourceIdSet *resource_ids) const¶

size_t getNumFrameResourcesOfType(const unsigned int frame_idx, const backend::ResourceType &type) const¶

void addFrameResourceIdOfType(const unsigned int frame_idx, const backend::ResourceType &type, const backend::ResourceId &resource_id)¶

void deleteFrameResourceIdsOfType(const unsigned int frame_idx, const backend::ResourceType &resource_type)¶

void deleteAllFrameResourceInfo(const unsigned int frame_idx)¶

void deleteAllFrameResourceInfo()¶

void serialize(vi_map::proto::ViwlsVertex *proto) const¶

void deserialize(const pose_graph::VertexId &vertex_id, const vi_map::proto::ViwlsVertex &proto)¶

inline bool operator==(const Vertex &lhs) const¶

inline bool operator!=(const Vertex &lhs) const¶

inline bool isSameApartFromOutgoingEdges(const Vertex &lhs) const¶

void expandVisualObservationContainersIfNecessary()¶

size_t discardUntrackedObservations()¶

inline int64_t getMinTimestampNanoseconds() const¶

void updateIdInObservedLandmarkIdList(const LandmarkId &old_landmark_id, const LandmarkId &new_landmark_id)¶

void removeObservedLandmarkIdList(const LandmarkId &landmark_id)¶

size_t getNumAbsolute6DoFMeasurements() const¶

bool hasAbsolute6DoFMeasurements() const¶

const std::vector<Absolute6DoFMeasurement> &getAbsolute6DoFMeasurements() const¶

std::vector<Absolute6DoFMeasurement> &getAbsolute6DoFMeasurements()¶

void addAbsolute6DoFMeasurement(const Absolute6DoFMeasurement &measurement)¶

Public Members

Vertex

Friends

friend friend void addObservedLandmarkId (const LandmarkId &landmark_id, vi_map::Vertex *vertex_ptr)