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)
Definition: PoseGraph.h:52
Eigen::Matrix6d_u information_
Definition: PoseGraph.h:77
Eigen::Matrix4d_u transformation_
Definition: PoseGraph.h:76
double confidence_
Definition: PoseGraph.h:85
bool uncertain_
Definition: PoseGraph.h:80
bool ConvertFromJsonValue(const Json::Value &value) override
Definition: PoseGraph.cpp:97
~PoseGraphEdge()
Definition: PoseGraph.cpp:72
int source_node_id_
Definition: PoseGraph.h:74
bool ConvertToJsonValue(Json::Value &value) const override
Definition: PoseGraph.cpp:74
int target_node_id_
Definition: PoseGraph.h:75
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
Definition: PoseGraph.h:88
PoseGraph()
Definition: PoseGraph.cpp:127
std::vector< PoseGraphNode > nodes_
Definition: PoseGraph.h:98
~PoseGraph() override
Definition: PoseGraph.cpp:129
bool ConvertToJsonValue(Json::Value &value) const override
Definition: PoseGraph.cpp:131
bool ConvertFromJsonValue(const Json::Value &value) override
Definition: PoseGraph.cpp:158
std::vector< PoseGraphEdge > edges_
Definition: PoseGraph.h:99
Definition: PoseGraph.h:38
~PoseGraphNode()
Definition: PoseGraph.cpp:36
Eigen::Matrix4d_u pose_
Definition: PoseGraph.h:49
bool ConvertToJsonValue(Json::Value &value) const override
Definition: PoseGraph.cpp:38
bool ConvertFromJsonValue(const Json::Value &value) override
Definition: PoseGraph.cpp:51
PoseGraphNode(const Eigen::Matrix4d &pose=Eigen::Matrix4d::Identity())
Definition: PoseGraph.h:40
Definition: IJsonConvertible.h:42
Eigen::Matrix< double, 6, 6, Eigen::DontAlign > Matrix6d_u
Definition: Eigen.h:42
Eigen::Matrix< double, 4, 4, Eigen::DontAlign > Matrix4d_u
Definition: Eigen.h:43
Eigen::Matrix< double, 6, 6 > Matrix6d
Extending Eigen namespace by adding frequently used matrix type.
Definition: Eigen.h:37
Definition: PinholeCameraIntrinsic.cpp:34