Class VIMappingTestApp

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