Class VIMapQueries¶
Defined in File vi-map-queries.h
Nested Relationships¶
Class Documentation¶
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class
vi_map_helpers
::
VIMapQueries
¶ Public Types
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typedef std::vector<VertexCommonLandmarksCount>
VertexCommonLandmarksCountVector
¶
Public Functions
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void
getIdsOfVerticesWithLandmarkObservations
(pose_graph::VertexIdList *result)¶
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void
getAllWellConstrainedLandmarkIds
(vi_map::LandmarkIdList *landmark_ids) const¶
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void
getAllNotWellConstrainedLandmarkIds
(vi_map::LandmarkIdList *landmark_ids) const¶
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void
forIdsOfObservedLandmarksOfEachVertexWhile
(const vi_map::MissionId &mission_id, const std::function<bool(const vi_map::LandmarkIdSet &store_landmarks)> &action) const¶
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void
forIdsOfObservedLandmarksOfEachVertexAlongGraphWhile
(const vi_map::MissionId &mission_id, const std::function<bool(const vi_map::LandmarkIdSet &store_landmarks)> &action) const¶
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void
getLandmarksObservedByMission
(const vi_map::MissionId &query_mission, vi_map::LandmarkIdSet *observed_landmarks) const¶
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bool
observesLandmarksObservedByMultipleMissions
(const vi_map::MissionId &query_mission) const¶
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void
getMissionsStoringLandmarksObservedByMultipleMissions
(const vi_map::MissionId &query_mission, vi_map::MissionIdSet *result) const¶
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bool
storesLandmarksObservedByOtherMissions
(const vi_map::MissionId &query_mission) const¶
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void
getVertexIdsAlongGraphForMissions
(const vi_map::MissionIdList &mission_id_list, vi_map::MissionVertexIdList *mission_to_vertex_ids_map) const¶
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void
getCommonObserversForLandmarks
(const vi_map::LandmarkIdList &landmarks, pose_graph::VertexIdList *result) const¶
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bool
isLandmarkObservedByMultipleMissions
(const vi_map::LandmarkId &landmark_id) const¶
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void
getVisualFramesWithCommonLandmarksSortedMostToLeast
(const vi_map::Vertex &vertex, const size_t frame_index, const size_t min_common_landmarks, vi_map::VisualFrameIdentifierList *result) const¶
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size_t
getNumWellConstrainedLandmarks
(const vi_map::Vertex &vertex, const size_t frame_index) const¶
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void
getFollowingVertexIdsAlongGraph
(const pose_graph::VertexId &starting_vertex, const bool include_starting_vertex, pose_graph::VertexIdList *result) const¶
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void
getFollowingVertexIdsAlongGraph
(const pose_graph::VertexId &starting_vertex, pose_graph::VertexIdList *result) const¶
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int
getVerticesWithCommonLandmarks
(const pose_graph::VertexId &vertex_id, int num_matches_to_return, int min_number_common_landmarks, pose_graph::VertexIdList *coobserver_vertex_ids) const¶
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bool
getClosestVertexIdByTimestamp
(const uint64_t timestamp_ns, const uint64_t tolerance_ns, pose_graph::VertexId *vertex_id, uint64_t *timestamp_difference = nullptr)¶
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int
getVerticesWithCommonLandmarks
(const pose_graph::VertexId &vertex_id, int min_number_common_landmarks, VertexCommonLandmarksCountVector *coobserver_vertex_ids) const¶
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int
getVertexWithMostLandmarksInCommon
(const pose_graph::VertexId &vertex_id, pose_graph::VertexId *best_match_vertex_id) const¶
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void
getIdsOfLandmarksObservedByVertex
(const pose_graph::VertexId &vertex_id, vi_map::LandmarkIdSet *result) const¶
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int
getNumberOfCommonLandmarks
(const pose_graph::VertexId &vertex_1, const pose_graph::VertexId &vertex_2, vi_map::LandmarkIdSet *landmarks) const¶
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int
getNumberOfCommonLandmarks
(const pose_graph::VertexId &vertex_1, const pose_graph::VertexId &vertex_2) const¶
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void
getCoobservingVertices
(const pose_graph::VertexIdSet &given_vertices, const double min_coobserved_features_ratio, const size_t min_coobsered_features_count, std::unordered_set<pose_graph::VertexId> *coobserving_vertices) const¶
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bool
isCoobservingBasedOnPercentage
(double minimum_percentage_of_shared_observations, const pose_graph::VertexIdSet &given_vertices, const pose_graph::VertexId &query_vertex_id) const¶ Check if a given vertex shares a given minimum percentage of observed landmarks with a given set of vertices.
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bool
isCoobservingBasedOnAbsoluteCountOfLandmarkObservers
(unsigned int minimum_observers_needed, const pose_graph::VertexIdSet &given_vertices, const pose_graph::VertexId &query_vertex_id) const¶ Check if a given vertex has at least one observed landmark with a minimum of observers from a given set of vertices.
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void
getBoundaryVertexIds
(const pose_graph::VertexIdSet &inner_vertices, pose_graph::VertexIdList *boundary_vertices) const¶
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void
getBoundaryVertexIds
(const pose_graph::VertexIdList &inner_vertices, pose_graph::VertexIdList *boundary_vertices) const¶
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template<typename
VertexIdContainerType
>
inline voidgetConsecutiveLandmarkObserverGroupsFromMission
(const vi_map::LandmarkId &store_landmark_id, const vi_map::MissionId &mission_id, std::vector<VertexIdContainerType> *clustered_vertex_ids) const¶
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template<typename
VertexIdContainerType
>
inline voidclusterConsecutiveVerticesFromOneMission
(const pose_graph::VertexIdSet &vertices, std::vector<VertexIdContainerType> *clustered_vertex_ids) const¶ Clusters a set of vertex ids from a single mission to groups of consecutive vertices based on the mission trajectory.
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typedef std::vector<VertexCommonLandmarksCount>