37 namespace registration {
45 PoseGraphNode(
const Eigen::Matrix4d &pose = Eigen::Matrix4d::Identity())
71 int source_node_id = -1,
72 int target_node_id = -1,
73 const Eigen::Matrix4d &transformation = Eigen::Matrix4d::Identity(),
74 const Eigen::Matrix6d &information = Eigen::Matrix6d::Identity(),
75 bool uncertain =
false,
76 double confidence = 1.0)
Edge of PoseGraph.
Definition: PoseGraph.h:60
bool uncertain_
Whether the edge is uncertain.
Definition: PoseGraph.h:102
PoseGraphEdge(int source_node_id=-1, int target_node_id=-1, const Eigen::Matrix4d &transformation=Eigen::Matrix4d::Identity(), const Eigen::Matrix6d &information=Eigen::Matrix6d::Identity(), bool uncertain=false, double confidence=1.0)
Parameterized Constructor.
Definition: PoseGraph.h:70
int source_node_id_
Source PoseGraphNode id.
Definition: PoseGraph.h:91
double confidence_
Confidence value of the edge.
Definition: PoseGraph.h:109
~PoseGraphEdge()
Definition: PoseGraph.cpp:73
Eigen::Matrix6d_u information_
Information matrix.
Definition: PoseGraph.h:97
bool ConvertFromJsonValue(const Json::Value &value) override
Definition: PoseGraph.cpp:97
Eigen::Matrix4d_u transformation_
Transformation matrix.
Definition: PoseGraph.h:95
int target_node_id_
Target PoseGraphNode id.
Definition: PoseGraph.h:93
bool ConvertToJsonValue(Json::Value &value) const override
Definition: PoseGraph.cpp:75
Data structure defining the pose graph.
Definition: PoseGraph.h:115
~PoseGraph() override
Definition: PoseGraph.cpp:128
PoseGraph()
Default Constructor.
Definition: PoseGraph.cpp:126
bool ConvertFromJsonValue(const Json::Value &value) override
Definition: PoseGraph.cpp:157
std::vector< PoseGraphNode > nodes_
List of PoseGraphNode.
Definition: PoseGraph.h:127
bool ConvertToJsonValue(Json::Value &value) const override
Definition: PoseGraph.cpp:130
std::vector< PoseGraphEdge > edges_
List of PoseGraphEdge.
Definition: PoseGraph.h:129
Node of PoseGraph.
Definition: PoseGraph.h:42
PoseGraphNode(const Eigen::Matrix4d &pose=Eigen::Matrix4d::Identity())
Default Constructor.
Definition: PoseGraph.h:45
~PoseGraphNode()
Definition: PoseGraph.cpp:37
bool ConvertFromJsonValue(const Json::Value &value) override
Definition: PoseGraph.cpp:52
bool ConvertToJsonValue(Json::Value &value) const override
Definition: PoseGraph.cpp:39
Eigen::Matrix4d_u pose_
Definition: PoseGraph.h:54
Definition: IJsonConvertible.h:57
Definition: PinholeCameraIntrinsic.cpp:35