Class VIMapGeometry

Class Documentation

class vi_map_helpers::VIMapGeometry

Public Functions

explicit VIMapGeometry(const vi_map::VIMap &map)
pose::Transformation getVisualFrame_T_G_C(const vi_map::VisualFrameIdentifier &frame_id) const
double getMedianSceneDepth(const vi_map::VisualFrameIdentifier &frame_id) const
int getNeighboursWithinRange(const pose_graph::VertexId &vertex_id, double range_m, pose_graph::VertexIdSet *neighbours) const
void get_p_G_I_CovarianceEigenValuesAndVectorsAscending(const vi_map::MissionId &mission_id, Eigen::Vector3d *eigenvalues, Eigen::Matrix3d *eigenvectors) const
Eigen::Vector3d get_bv_G_root_average(const vi_map::MissionId &mission_id) const
template<typename ObjectIdType>
void getBoundingBox(Eigen::Vector3d *p_G_min, Eigen::Vector3d *p_G_max) const
template<typename ObjectIdType>
void getBoundingBox(const vi_map::MissionId &mission_id, Eigen::Vector3d *p_G_min, Eigen::Vector3d *p_G_max) const
template<typename ObjectIdContainerType>
void getBoundingBox(const ObjectIdContainerType &object_ids, Eigen::Vector3d *p_G_min, Eigen::Vector3d *p_G_max) const
void interpolateForTimestamps_T_G_I(const vi_map::MissionId &mission_id, const Eigen::Matrix<int64_t, 1, Eigen::Dynamic> &timestamps_ns, aslam::TransformationVector *T_G_I_vector) const