Class VIMapManipulation¶
Defined in File vi-map-manipulation.h
Class Documentation¶
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class
vi_map_helpers
::
VIMapManipulation
¶ Public Types
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typedef std::unordered_map<int, vi_map::LandmarkId>
TrackIndexToLandmarkIdMap
¶
Public Functions
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void
rotate
(const size_t dimension, const double degrees)¶
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void
artificiallyDisturbVertices
()¶
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void
alignToXYPlane
(const vi_map::MissionId &mission_id)¶
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void
getViwlsEdgesWithoutImuMeasurements
(const vi_map::MissionId &mission_id, pose_graph::EdgeIdList *corrupt_edge_ids) const¶
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void
fixViwlsEdgesWithoutImuMeasurements
(const vi_map::MissionId &mission_id)¶
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size_t
mergeLandmarksBasedOnTrackIds
(const vi_map::MissionId &mission_id)¶
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void
removePosegraphAfter
(const pose_graph::VertexId &vertex_id, pose_graph::VertexIdList *removed_vertex_ids)¶
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void
removeVerticesAndIncomingEdges
(const pose_graph::VertexIdList &vertex_ids)¶
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size_t
initializeLandmarksFromUnusedFeatureTracksOfMission
(const vi_map::MissionId &mission_id)¶
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size_t
initializeLandmarksFromUnusedFeatureTracksOfMission
(const vi_map::MissionId &mission_id, const pose_graph::VertexId &starting_vertex_id)¶
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void
initializeLandmarksFromUnusedFeatureTracksOfOrderedVertices
(const pose_graph::VertexIdList &ordered_vertex_ids, TrackIndexToLandmarkIdMap *trackid_landmarkid_map)¶
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void
initializeLandmarksFromUnusedFeatureTracksOfVertex
(const pose_graph::VertexId &vertex_id, TrackIndexToLandmarkIdMap *trackid_landmarkid_map)¶
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void
releaseOldVisualFrameImages
(const pose_graph::VertexId ¤t_vertex_id, const int image_removal_age_threshold)¶
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size_t
removeBadLandmarks
()¶
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void
dropMapDataBeforeVertex
(const vi_map::MissionId &mission_id, const pose_graph::VertexId &new_root_vertex, const bool delete_resources_from_file_system)¶
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uint32_t
addOdometryEdgesBetweenVertices
(const uint32_t min_number_of_common_landmarks = 0u)¶
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bool
constrainStationarySubmapWithLoopClosureEdge
(const double max_translation_m, const double max_rotation_m)¶
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typedef std::unordered_map<int, vi_map::LandmarkId>