36 namespace registration {
40 PoseGraphNode(
const Eigen::Matrix4d &pose = Eigen::Matrix4d::Identity())
55 int source_node_id = -1,
56 int target_node_id = -1,
57 const Eigen::Matrix4d &transformation = Eigen::Matrix4d::Identity(),
59 bool uncertain =
false,
60 double confidence = 1.0)
61 : source_node_id_(source_node_id),
62 target_node_id_(target_node_id),
63 transformation_(transformation),
64 information_(information),
65 uncertain_(uncertain),
66 confidence_(confidence){};
bool ConvertToJsonValue(Json::Value &value) const override
Definition: PoseGraph.cpp:37
Eigen::Matrix6d_u information_
Definition: PoseGraph.h:77
std::vector< PoseGraphEdge > edges_
Definition: PoseGraph.h:99
double confidence_
Definition: PoseGraph.h:85
PoseGraphNode(const Eigen::Matrix4d &pose=Eigen::Matrix4d::Identity())
Definition: PoseGraph.h:40
Definition: PoseGraph.h:52
Eigen::Matrix4d_u pose_
Definition: PoseGraph.h:49
int source_node_id_
Definition: PoseGraph.h:74
~PoseGraphNode()
Definition: PoseGraph.cpp:35
int target_node_id_
Definition: PoseGraph.h:75
std::vector< PoseGraphNode > nodes_
Definition: PoseGraph.h:98
Definition: PoseGraph.h:88
bool uncertain_
Definition: PoseGraph.h:80
Definition: PinholeCameraIntrinsic.cpp:33
Definition: PoseGraph.h:38
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)
Definition: PoseGraph.h:54
Eigen::Matrix< double, 6, 6, Eigen::DontAlign > Matrix6d_u
Definition: Eigen.h:42
bool ConvertFromJsonValue(const Json::Value &value) override
Definition: PoseGraph.cpp:50
Eigen::Matrix< double, 4, 4, Eigen::DontAlign > Matrix4d_u
Definition: Eigen.h:43
Eigen::Matrix4d_u transformation_
Definition: PoseGraph.h:76
Definition: IJsonConvertible.h:41
Eigen::Matrix< double, 6, 6 > Matrix6d
Extending Eigen namespace by adding frequently used matrix type.
Definition: Eigen.h:37