PoseGraph.h

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include <Eigen.h>
#include <IJsonConvertible.h>
 
#include <memory>
#include <vector>
 
namespace cloudViewer {
namespace pipelines {
namespace registration {
 
class PoseGraphNode : public cloudViewer::utility::IJsonConvertible {
public:
    PoseGraphNode(const Eigen::Matrix4d &pose = Eigen::Matrix4d::Identity())
        : pose_(pose) {}
    ~PoseGraphNode();
 
public:
    bool ConvertToJsonValue(Json::Value &value) const override;
    bool ConvertFromJsonValue(const Json::Value &value) override;
 
public:
    Eigen::Matrix4d_u pose_;
};
 
class PoseGraphEdge : public cloudViewer::utility::IJsonConvertible {
public:
    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)
        : source_node_id_(source_node_id),
          target_node_id_(target_node_id),
          transformation_(transformation),
          information_(information),
          uncertain_(uncertain),
          confidence_(confidence) {}
    ~PoseGraphEdge();
 
public:
    bool ConvertToJsonValue(Json::Value &value) const override;
    bool ConvertFromJsonValue(const Json::Value &value) override;
 
public:
    int source_node_id_;
    int target_node_id_;
    Eigen::Matrix4d_u transformation_;
    Eigen::Matrix6d_u information_;
    bool uncertain_;
    double confidence_;
};
 
class PoseGraph : public cloudViewer::utility::IJsonConvertible {
public:
    PoseGraph();
    ~PoseGraph() override;
 
public:
    bool ConvertToJsonValue(Json::Value &value) const override;
    bool ConvertFromJsonValue(const Json::Value &value) override;
 
public:
    std::vector<PoseGraphNode> nodes_;
 
    std::vector<PoseGraphEdge> edges_;
};
 
}  // namespace registration
}  // namespace pipelines
}  // namespace cloudViewer