Edge of PoseGraph.
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#include <PoseGraph.h>
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| 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. More...
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| ~PoseGraphEdge () |
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bool | ConvertToJsonValue (Json::Value &value) const override |
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bool | ConvertFromJsonValue (const Json::Value &value) override |
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virtual | ~IJsonConvertible () |
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virtual std::string | ToString () const |
| Convert to a styled string representation of JSON data for display. More...
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static bool | EigenVector3dFromJsonArray (Eigen::Vector3d &vec, const Json::Value &value) |
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static bool | EigenVector3dToJsonArray (const Eigen::Vector3d &vec, Json::Value &value) |
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static bool | EigenVector4dFromJsonArray (Eigen::Vector4d &vec, const Json::Value &value) |
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static bool | EigenVector4dToJsonArray (const Eigen::Vector4d &vec, Json::Value &value) |
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static bool | EigenMatrix3dFromJsonArray (Eigen::Matrix3d &mat, const Json::Value &value) |
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static bool | EigenMatrix3dToJsonArray (const Eigen::Matrix3d &mat, Json::Value &value) |
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static bool | EigenMatrix4dFromJsonArray (Eigen::Matrix4d &mat, const Json::Value &value) |
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static bool | EigenMatrix4dToJsonArray (const Eigen::Matrix4d &mat, Json::Value &value) |
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static bool | EigenMatrix4dFromJsonArray (Eigen::Matrix4d_u &mat, const Json::Value &value) |
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static bool | EigenMatrix4dToJsonArray (const Eigen::Matrix4d_u &mat, Json::Value &value) |
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static bool | EigenMatrix6dFromJsonArray (Eigen::Matrix6d &mat, const Json::Value &value) |
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static bool | EigenMatrix6dToJsonArray (const Eigen::Matrix6d &mat, Json::Value &value) |
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static bool | EigenMatrix6dFromJsonArray (Eigen::Matrix6d_u &mat, const Json::Value &value) |
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static bool | EigenMatrix6dToJsonArray (const Eigen::Matrix6d_u &mat, Json::Value &value) |
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◆ PoseGraphEdge()
open3d::pipelines::registration::PoseGraphEdge::PoseGraphEdge |
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int |
source_node_id = -1 , |
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int |
target_node_id = -1 , |
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const Eigen::Matrix4d & |
transformation = Eigen::Matrix4d::Identity() , |
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const Eigen::Matrix6d & |
information = Eigen::Matrix6d::Identity() , |
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bool |
uncertain = false , |
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double |
confidence = 1.0 |
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inline |
Parameterized Constructor.
- Parameters
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source_node_id | Source PoseGraphNode id. |
target_node_id | Target PoseGraphNode id. |
transformation | Transformation matrix. |
information | Information matrix. |
uncertain | Whether the edge is uncertain. |
confidence | Confidence value of the edge. |
◆ ~PoseGraphEdge()
open3d::pipelines::registration::PoseGraphEdge::~PoseGraphEdge |
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◆ ConvertFromJsonValue()
bool open3d::pipelines::registration::PoseGraphEdge::ConvertFromJsonValue |
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const Json::Value & |
value | ) |
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overridevirtual |
◆ ConvertToJsonValue()
bool open3d::pipelines::registration::PoseGraphEdge::ConvertToJsonValue |
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Json::Value & |
value | ) |
const |
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overridevirtual |
◆ confidence_
double open3d::pipelines::registration::PoseGraphEdge::confidence_ |
Confidence value of the edge.
if uncertain_ is true, it has confidence bounded in [0,1]. 1 means reliable, and 0 means unreliable edge. This correspondence to line process value in [Choi et al 2015] See core/registration/globaloptimization.h for more details.
◆ information_
Eigen::Matrix6d_u open3d::pipelines::registration::PoseGraphEdge::information_ |
◆ source_node_id_
int open3d::pipelines::registration::PoseGraphEdge::source_node_id_ |
◆ target_node_id_
int open3d::pipelines::registration::PoseGraphEdge::target_node_id_ |
◆ transformation_
Eigen::Matrix4d_u open3d::pipelines::registration::PoseGraphEdge::transformation_ |
◆ uncertain_
bool open3d::pipelines::registration::PoseGraphEdge::uncertain_ |
Whether the edge is uncertain.
Odometry edge has uncertain == false loop closure edges has uncertain == true
The documentation for this class was generated from the following files: