Class VIMapManipulation

• Defined in File vi-map-manipulation.h

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, vi_map::LandmarkIdList *initialized_landmark_ids = nullptr)

size_t initializeLandmarksFromUnusedFeatureTracksOfMission(const vi_map::MissionId &mission_id, const pose_graph::VertexId &starting_vertex_id, vi_map::LandmarkIdList *initialized_landmark_ids = nullptr)

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)