Class Vertex¶
Defined in File vertex.h
Inheritance Relationships¶
Base Type¶
public pose_graph::Vertex
(Class Vertex)
Class Documentation¶
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class vi_map::Vertex : public pose_graph::Vertex¶
Public Types
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typedef std::vector<backend::ResourceTypeToIdsMap> FrameResourceMap¶
Public Functions
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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)¶
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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)¶
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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)¶
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Vertex(const pose_graph::VertexId &vertex_id, const aslam::VisualNFrame::Ptr visual_n_frame, const vi_map::MissionId &mission_id)¶
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Vertex()¶
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inline virtual ~Vertex()¶
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virtual const pose_graph::VertexId &id() const¶
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void setId(const pose_graph::VertexId &id)¶
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void set_T_M_I(const pose::Transformation &T_M_I)¶
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void set_p_M_I(const Eigen::Vector3d &p_M_I)¶
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void set_q_M_I(const Eigen::Quaterniond &q_M_I)¶
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void set_v_M(const Eigen::Vector3d &v_M)¶
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void setAccelBias(const Eigen::Vector3d &accel_bias)¶
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void setGyroBias(const Eigen::Vector3d &gyro_bias)¶
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virtual bool addIncomingEdge(const pose_graph::EdgeId &edge)¶
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virtual bool addOutgoingEdge(const pose_graph::EdgeId &edge)¶
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virtual void getOutgoingEdges(pose_graph::EdgeIdSet *edges) const¶
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virtual void getIncomingEdges(pose_graph::EdgeIdSet *edges) const¶
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virtual void getAllEdges(pose_graph::EdgeIdSet *edges) const¶
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virtual bool hasIncomingEdges() const¶
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virtual bool hasOutgoingEdges() const¶
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size_t numOutgoingEdges() const¶
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virtual void removeIncomingEdge(const pose_graph::EdgeId &edge_id)¶
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virtual void removeOutgoingEdge(const pose_graph::EdgeId &edge_id)¶
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double *get_q_M_I_Mutable()¶
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double *get_p_M_I_Mutable()¶
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double *get_v_M_Mutable()¶
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double *getAccelBiasMutable()¶
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double *getGyroBiasMutable()¶
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const pose::Transformation &get_T_M_I() const¶
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const Eigen::Quaterniond &get_q_M_I() const¶
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const Eigen::Vector3d &get_p_M_I() const¶
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const Eigen::Vector3d &get_v_M() const¶
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const Eigen::Vector3d &getAccelBias() const¶
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const Eigen::Vector3d &getGyroBias() const¶
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const LandmarkId &getObservedLandmarkId(unsigned int frame_idx, int keypoint_idx) const¶
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const LandmarkId &getObservedLandmarkId(const KeypointIdentifier &keypoint_id) const¶
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void setObservedLandmarkId(const KeypointIdentifier &keypoint_id, const LandmarkId &landmark_id)¶
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void setObservedLandmarkId(unsigned int frame_idx, int keypoint_idx, const LandmarkId &landmark_id)¶
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size_t observedLandmarkIdsSize(unsigned int frame_idx) const¶
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int numValidObservedLandmarkIds(unsigned int frame_idx) const¶
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int numValidObservedLandmarkIdsInAllFrames() const¶
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void getFrameObservedLandmarkIds(unsigned int frame_idx, LandmarkIdList *landmark_ids) const¶
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const LandmarkIdList &getFrameObservedLandmarkIds(unsigned int frame_idx) const¶
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void getAllObservedLandmarkIds(LandmarkIdList *landmark_ids) const¶
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void getAllObservedLandmarkIds(std::vector<LandmarkIdList> *landmark_ids) const¶
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size_t getNumLandmarkObservations(const LandmarkId &landmark_id) const¶
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void forEachKeypoint(const std::function<void(const KeypointIdentifier&)> &action) const¶
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void forEachFrame(const std::function<void(const unsigned int frame_idx, const aslam::VisualFrame &frame)> &action) const¶
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inline const vi_map::MissionId &getMissionId() const¶
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inline void setMissionId(const vi_map::MissionId &mission_id)¶
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inline bool hasVisualNFrame() const¶
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inline aslam::VisualNFrame &getVisualNFrame()¶
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inline const aslam::VisualNFrame &getVisualNFrame() const¶
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inline size_t numFrames() const¶
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inline bool isVisualFrameSet(unsigned int frame_idx) const¶
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inline bool isVisualFrameValid(unsigned int frame_idx) const¶
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inline aslam::VisualFrame &getVisualFrame(unsigned int frame_idx)¶
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inline const aslam::VisualFrame &getVisualFrame(unsigned int frame_idx) const¶
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inline LandmarkStore &getLandmarks()¶
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inline const LandmarkStore &getLandmarks() const¶
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void getStoredLandmarkIdList(LandmarkIdList *landmark_id_list) const¶
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bool hasStoredLandmark(const LandmarkId &landmark_id) const¶
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pose::Position3D getLandmark_p_LM_fi(const LandmarkId &landmark_id) const¶
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void setLandmark_LM_p_fi(const vi_map::LandmarkId &landmark_id, const Eigen::Vector3d &LM_p_fi)¶
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inline void setLandmarks(const LandmarkStore &landmark_store)¶
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void setFrameAndLandmarkObservations(aslam::VisualNFrame::Ptr visual_n_frame, const std::vector<std::vector<LandmarkId>> &img_landmarks)¶
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void resetObservedLandmarkIdsToInvalid()¶
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inline void forEachUnassociatedKeypoint(const unsigned int frame_idx, const std::function<void(const int keypoint_index)> &action) const¶
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inline void getUnassociatedKeypoints(const unsigned int frame_idx, std::vector<int> *result) const¶
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bool isFrameIndexValid(unsigned int frame_idx) const¶
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bool areFrameAndKeypointIndicesValid(unsigned int frame_idx, int keypoint_idx) const¶
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void checkConsistencyOfVisualObservationContainers() const¶
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const FrameResourceMap &getFrameResourceMap() const¶
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void setFrameResourceMap(const FrameResourceMap &frame_resource_map)¶
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bool hasFrameResourceOfType(const unsigned int frame_idx, const backend::ResourceType &type) const¶
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bool hasFrameResourceWithId(const unsigned int frame_idx, const backend::ResourceId &resource_id) const¶
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void getFrameResourceIdsOfType(const unsigned int frame_idx, const backend::ResourceType &type, backend::ResourceIdSet *resource_ids) const¶
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size_t getNumFrameResourcesOfType(const unsigned int frame_idx, const backend::ResourceType &type) const¶
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void addFrameResourceIdOfType(const unsigned int frame_idx, const backend::ResourceType &type, const backend::ResourceId &resource_id)¶
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void deleteFrameResourceIdsOfType(const unsigned int frame_idx, const backend::ResourceType &resource_type)¶
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void deleteAllFrameResourceInfo(const unsigned int frame_idx)¶
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void deleteAllFrameResourceInfo()¶
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void serialize(vi_map::proto::ViwlsVertex *proto) const¶
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void deserialize(const pose_graph::VertexId &vertex_id, const vi_map::proto::ViwlsVertex &proto)¶
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size_t discardUntrackedObservations()¶
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inline int64_t getMinTimestampNanoseconds() const¶
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void updateIdInObservedLandmarkIdList(const LandmarkId &old_landmark_id, const LandmarkId &new_landmark_id)¶
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void removeObservedLandmarkIdList(const LandmarkId &landmark_id)¶
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size_t getNumAbsolute6DoFMeasurements() const¶
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bool hasAbsolute6DoFMeasurements() const¶
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const std::vector<Absolute6DoFMeasurement> &getAbsolute6DoFMeasurements() const¶
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std::vector<Absolute6DoFMeasurement> &getAbsolute6DoFMeasurements()¶
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void addAbsolute6DoFMeasurement(const Absolute6DoFMeasurement &measurement)¶
Public Members
- Vertex
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typedef std::vector<backend::ResourceTypeToIdsMap> FrameResourceMap¶