Class VIMappingTestApp¶
Defined in File vi-mapping-test-app.h
Class Documentation¶
-
class
visual_inertial_mapping
::
VIMappingTestApp
¶ Public Types
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typedef AlignedUnorderedMap<pose_graph::VertexId, pose::Transformation>
VertexIdPosePairs
¶
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typedef AlignedUnorderedMap<vi_map::LandmarkId, Eigen::Vector3d>
LandmarkIdPositionPairs
¶
Public Functions
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VIMappingTestApp
()¶
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virtual
~VIMappingTestApp
()¶
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void
loadDataset
(const std::string &folder_name)¶
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bool
isMapConsistent
()¶
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void
sparsifyMission
()¶
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size_t
numVerticesOnMap
() const¶
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void
corruptLandmarkPositions
(double std_dev_m, int every_nth)¶
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void
corruptKeyframePoses
(double position_std_dev_m, double orientation_std_dev_quat, int every_nth)¶
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void
corruptAbs6DoFSensorExtrinsics
(double position_std_dev_m, double orientation_std_dev_quat)¶
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void
corruptCameraExtrinsics
(double position_std_dev_m, double orientation_std_dev_quat)¶
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void
addLoopClosureEdges
(const size_t add_lc_edge_between_every_nth_vertex)¶
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pose_graph::EdgeId
addWrongLoopClosureEdge
()¶
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void
addAbsolute6DoFConstraints
(const size_t add_constraint_at_every_nth_vertex)¶
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const Eigen::Vector3d &
getLandmarkReferencePosition
(const vi_map::LandmarkId &landmark_id) const¶
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const pose::Transformation &
getVertexReferencePose
(const pose_graph::VertexId &vertex_id) const¶
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void
testIfKeyframesMatchReference
(double precision_m) const¶
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void
testIfLandmarksMatchReference
(double max_distance, double min_required_fraction) const¶
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void
testIfSwitchVariablesLargerThan
(double min_value, double min_required_fraction) const¶
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double
getSpecificSwitchVariable
(const pose_graph::EdgeId &edge_id) const¶
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typedef AlignedUnorderedMap<pose_graph::VertexId, pose::Transformation>