Class VIMapManipulation

Class Documentation

class vi_map_helpers::VIMapManipulation

Public Types

typedef std::unordered_map<int, vi_map::LandmarkId> TrackIndexToLandmarkIdMap

Public Functions

explicit VIMapManipulation(vi_map::VIMap *map)
void rotate(const size_t dimension, const double degrees)
void artificiallyDisturbVertices()
void alignToXYPlane(const vi_map::MissionId &mission_id)
void getViwlsEdgesWithoutImuMeasurements(const vi_map::MissionId &mission_id, pose_graph::EdgeIdList *corrupt_edge_ids) const
void fixViwlsEdgesWithoutImuMeasurements(const vi_map::MissionId &mission_id)
size_t mergeLandmarksBasedOnTrackIds(const vi_map::MissionId &mission_id)
void removePosegraphAfter(const pose_graph::VertexId &vertex_id, pose_graph::VertexIdList *removed_vertex_ids)
void removeVerticesAndIncomingEdges(const pose_graph::VertexIdList &vertex_ids)
size_t initializeLandmarksFromUnusedFeatureTracksOfMission(const vi_map::MissionId &mission_id)
size_t initializeLandmarksFromUnusedFeatureTracksOfMission(const vi_map::MissionId &mission_id, const pose_graph::VertexId &starting_vertex_id)
void initializeLandmarksFromUnusedFeatureTracksOfOrderedVertices(const pose_graph::VertexIdList &ordered_vertex_ids, TrackIndexToLandmarkIdMap *trackid_landmarkid_map)
void initializeLandmarksFromUnusedFeatureTracksOfVertex(const pose_graph::VertexId &vertex_id, TrackIndexToLandmarkIdMap *trackid_landmarkid_map)
void releaseOldVisualFrameImages(const pose_graph::VertexId &current_vertex_id, const int image_removal_age_threshold)
size_t removeBadLandmarks()
void dropMapDataBeforeVertex(const vi_map::MissionId &mission_id, const pose_graph::VertexId &new_root_vertex, const bool delete_resources_from_file_system)
uint32_t addOdometryEdgesBetweenVertices(const uint32_t min_number_of_common_landmarks = 0u)
bool constrainStationarySubmapWithLoopClosureEdge(const double max_translation_m, const double max_rotation_m)