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)
77 : source_node_id_(source_node_id),
78 target_node_id_(target_node_id),
79 transformation_(transformation),
80 information_(information),
81 uncertain_(uncertain),
82 confidence_(confidence) {}
int source_node_id_
Source PoseGraphNode id.
Definition: PoseGraph.h:91
bool ConvertToJsonValue(Json::Value &value) const override
Definition: PoseGraph.cpp:39
double confidence_
Confidence value of the edge.
Definition: PoseGraph.h:109
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
bool uncertain_
Whether the edge is uncertain.
Definition: PoseGraph.h:102
bool ConvertFromJsonValue(const Json::Value &value) override
Definition: PoseGraph.cpp:52
Eigen::Matrix4d_u pose_
Definition: PoseGraph.h:54
Data structure defining the pose graph.
Definition: PoseGraph.h:115
~PoseGraphNode()
Definition: PoseGraph.cpp:37
std::vector< PoseGraphNode > nodes_
List of PoseGraphNode.
Definition: PoseGraph.h:127
PoseGraphNode(const Eigen::Matrix4d &pose=Eigen::Matrix4d::Identity())
Default Constructor.
Definition: PoseGraph.h:45
Node of PoseGraph.
Definition: PoseGraph.h:42
int target_node_id_
Target PoseGraphNode id.
Definition: PoseGraph.h:93
Edge of PoseGraph.
Definition: PoseGraph.h:60
Definition: PinholeCameraIntrinsic.cpp:35
Eigen::Matrix4d_u transformation_
Transformation matrix.
Definition: PoseGraph.h:95
Eigen::Matrix6d_u information_
Information matrix.
Definition: PoseGraph.h:97
std::vector< PoseGraphEdge > edges_
List of PoseGraphEdge.
Definition: PoseGraph.h:129
Definition: IJsonConvertible.h:44