open3d.pipelines.registration.PoseGraphEdge#
- class open3d.pipelines.registration.PoseGraphEdge#
Edge of
PoseGraph
.- __init__(*args, **kwargs)#
Overloaded function.
__init__(self: open3d.cpu.pybind.pipelines.registration.PoseGraphEdge) -> None
Default constructor
__init__(self: open3d.cpu.pybind.pipelines.registration.PoseGraphEdge, arg0: open3d.cpu.pybind.pipelines.registration.PoseGraphEdge) -> None
Copy constructor
- __init__(self: open3d.cpu.pybind.pipelines.registration.PoseGraphEdge, source_node_id: int = -1, target_node_id: int = -1, transformation: numpy.ndarray[numpy.float64[4, 4]] = array([[1., 0., 0., 0.],
[0., 1., 0., 0.], [0., 0., 1., 0.], [0., 0., 0., 1.]]), information: numpy.ndarray[numpy.float64[6, 6]] = array([[1., 0., 0., 0., 0., 0.], [0., 1., 0., 0., 0., 0.], [0., 0., 1., 0., 0., 0.], [0., 0., 0., 1., 0., 0.], [0., 0., 0., 0., 1., 0.], [0., 0., 0., 0., 0., 1.]]), uncertain: bool = False, confidence: float = 1.0) -> None
- property 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.
- Type:
float from 0 to 1
- property information#
Information matrix.
- Type:
6 x 6
float64 numpy array
- property source_node_id#
Source
PoseGraphNode
id.- Type:
int
- property target_node_id#
Target
PoseGraphNode
id.- Type:
int
- property transformation#
Transformation matrix.
- Type:
4 x 4
float64 numpy array
- property uncertain#
Whether the edge is uncertain. Odometry edge has uncertain == false, loop closure edges has uncertain == true
- Type:
bool