Program Listing for File localization-summary-map-creation.h

Return to documentation for file (map-structure/localization-summary-map/include/localization-summary-map/localization-summary-map-creation.h)

#ifndef LOCALIZATION_SUMMARY_MAP_LOCALIZATION_SUMMARY_MAP_CREATION_H_
#define LOCALIZATION_SUMMARY_MAP_LOCALIZATION_SUMMARY_MAP_CREATION_H_

#include <string>

#include <vi-map/unique-id.h>

namespace vi_map {
class VIMap;
}  // namespace vi_map

namespace summary_map {
class LocalizationSummaryMap;
class LocalizationSummaryMapCache;

void createLocalizationSummaryMapForWellConstrainedLandmarks(
    const vi_map::VIMap& map, summary_map::LocalizationSummaryMap* summary_map);

void createLocalizationSummaryMapForSummarizedLandmarks(
    const vi_map::VIMap& map, const double landmark_keep_fraction,
    summary_map::LocalizationSummaryMap* summary_map);

void createLocalizationSummaryMapFromLandmarkList(
    const vi_map::VIMap& map, const vi_map::LandmarkIdList& landmark_ids,
    summary_map::LocalizationSummaryMap* summary_map);

void createLocalizationSummaryMapFromLandmarkList(
    const vi_map::VIMap& map, const vi_map::LandmarkIdList& landmark_ids,
    LocalizationSummaryMapCache* summary_map_cache,
    summary_map::LocalizationSummaryMap* summary_map);

// Load a LocalizationSummaryMap from a serialized map that can be either a
// LocalizationSummaryMap or a VIMap. The latter will trigger a conversion.
void loadLocalizationSummaryMapFromAnyMapFile(
    const std::string& localization_map_folder,
    summary_map::LocalizationSummaryMap* summary_map);

}  // namespace summary_map
#endif  // LOCALIZATION_SUMMARY_MAP_LOCALIZATION_SUMMARY_MAP_CREATION_H_