#include <PoseGraph.h>

Inheritance diagram for open3d::pipelines::registration::PoseGraphEdge:

Public Member Functions
	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.
	~PoseGraphEdge ()
bool	ConvertToJsonValue (Json::Value &value) const override
bool	ConvertFromJsonValue (const Json::Value &value) override
Public Member Functions inherited from open3d::utility::IJsonConvertible
virtual	~IJsonConvertible ()
virtual std::string	ToString () const
	Convert to a styled string representation of JSON data for display.

Data Fields
int	source_node_id_
	Source PoseGraphNode id.
int	target_node_id_
	Target PoseGraphNode id.
Eigen::Matrix4d_u	transformation_
	Transformation matrix.
Eigen::Matrix6d_u	information_
	Information matrix.
bool	uncertain_
	Whether the edge is uncertain.
double	confidence_
	Confidence value of the edge.

Additional Inherited Members
Static Public Member Functions inherited from open3d::utility::IJsonConvertible
static bool	EigenVector3dFromJsonArray (Eigen::Vector3d &vec, const Json::Value &value)
static bool	EigenVector3dToJsonArray (const Eigen::Vector3d &vec, Json::Value &value)
static bool	EigenVector4dFromJsonArray (Eigen::Vector4d &vec, const Json::Value &value)
static bool	EigenVector4dToJsonArray (const Eigen::Vector4d &vec, Json::Value &value)
static bool	EigenMatrix3dFromJsonArray (Eigen::Matrix3d &mat, const Json::Value &value)
static bool	EigenMatrix3dToJsonArray (const Eigen::Matrix3d &mat, Json::Value &value)
static bool	EigenMatrix4dFromJsonArray (Eigen::Matrix4d &mat, const Json::Value &value)
static bool	EigenMatrix4dToJsonArray (const Eigen::Matrix4d &mat, Json::Value &value)
static bool	EigenMatrix4dFromJsonArray (Eigen::Matrix4d_u &mat, const Json::Value &value)
static bool	EigenMatrix4dToJsonArray (const Eigen::Matrix4d_u &mat, Json::Value &value)
static bool	EigenMatrix6dFromJsonArray (Eigen::Matrix6d &mat, const Json::Value &value)
static bool	EigenMatrix6dToJsonArray (const Eigen::Matrix6d &mat, Json::Value &value)
static bool	EigenMatrix6dFromJsonArray (Eigen::Matrix6d_u &mat, const Json::Value &value)
static bool	EigenMatrix6dToJsonArray (const Eigen::Matrix6d_u &mat, Json::Value &value)

Detailed Description

Edge of PoseGraph.

Constructor & Destructor Documentation

◆ PoseGraphEdge()

open3d::pipelines::registration::PoseGraphEdge::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 )

inline

Parameterized Constructor.

Parameters

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 ( )

Member Function Documentation

◆ ConvertFromJsonValue()

bool open3d::pipelines::registration::PoseGraphEdge::ConvertFromJsonValue ( const Json::Value & value )

overridevirtual

Implements open3d::utility::IJsonConvertible.

◆ ConvertToJsonValue()

bool open3d::pipelines::registration::PoseGraphEdge::ConvertToJsonValue ( Json::Value & value ) const

overridevirtual

Implements open3d::utility::IJsonConvertible.

Field Documentation

◆ 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_

Information matrix.

◆ source_node_id_

int open3d::pipelines::registration::PoseGraphEdge::source_node_id_

Source PoseGraphNode id.

◆ target_node_id_

int open3d::pipelines::registration::PoseGraphEdge::target_node_id_

Target PoseGraphNode id.

◆ transformation_

Eigen::Matrix4d_u open3d::pipelines::registration::PoseGraphEdge::transformation_

Transformation matrix.

◆ 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:

cpp/open3d/pipelines/registration/PoseGraph.h
cpp/open3d/pipelines/registration/PoseGraph.cpp

Public Member Functions

Data Fields

Additional Inherited Members