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