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)

void addCorruptDuplicateLandmarkObservations(int every_nth)

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