Class VIMappingTestApp¶

Defined in File vi-mapping-test-app.h

Class Documentation¶

class visual_inertial_mapping::VIMappingTestApp¶

Public Types

typedef AlignedUnorderedMap<pose_graph::VertexId, pose::Transformation> VertexIdPosePairs¶

typedef AlignedUnorderedMap<vi_map::LandmarkId, Eigen::Vector3d> LandmarkIdPositionPairs¶

Public Functions

VIMappingTestApp()¶

virtual ~VIMappingTestApp()¶

void loadDataset(const std::string &folder_name)¶

vi_map::VIMap *getMapMutable()¶

bool isMapConsistent()¶

void sparsifyMission()¶

size_t numVerticesOnMap() const¶

void corruptLandmarkPositions(double std_dev_m, int every_nth)¶

void corruptKeyframePoses(double position_std_dev_m, double orientation_std_dev_quat, int every_nth)¶

void corruptAbs6DoFSensorExtrinsics(double position_std_dev_m, double orientation_std_dev_quat)¶

void corruptCameraExtrinsics(double position_std_dev_m, double orientation_std_dev_quat)¶

void addLoopClosureEdges(const size_t add_lc_edge_between_every_nth_vertex)¶

pose_graph::EdgeId addWrongLoopClosureEdge()¶

void addAbsolute6DoFConstraints(const size_t add_constraint_at_every_nth_vertex)¶

const Eigen::Vector3d &getLandmarkReferencePosition(const vi_map::LandmarkId &landmark_id) const¶

const pose::Transformation &getVertexReferencePose(const pose_graph::VertexId &vertex_id) const¶

void testIfKeyframesMatchReference(double precision_m) const¶

void testIfLandmarksMatchReference(double max_distance, double min_required_fraction) const¶

void testIfSwitchVariablesLargerThan(double min_value, double min_required_fraction) const¶

double getSpecificSwitchVariable(const pose_graph::EdgeId &edge_id) const¶