#include <PoseGraph.h>

Inheritance diagram for cloudViewer::pipelines::registration::PoseGraphEdge:

Collaboration diagram for cloudViewer::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. More...

	~PoseGraphEdge ()

bool	ConvertToJsonValue (Json::Value &value) const override

bool	ConvertFromJsonValue (const Json::Value &value) override

Public Member Functions inherited from cloudViewer::utility::IJsonConvertible
virtual	~IJsonConvertible ()

virtual std::string	ToString () const
	Convert to a styled string representation of JSON data for display. More...

Public Attributes
int	source_node_id_
	Source PoseGraphNode id. More...

int	target_node_id_
	Target PoseGraphNode id. More...

Eigen::Matrix4d_u	transformation_
	Transformation matrix. More...

Eigen::Matrix6d_u	information_
	Information matrix. More...

bool	uncertain_
	Whether the edge is uncertain. More...

double	confidence_
	Confidence value of the edge. More...

Additional Inherited Members
Static Public Member Functions inherited from cloudViewer::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.

Definition at line 41 of file PoseGraph.h.

Constructor & Destructor Documentation

◆ PoseGraphEdge()

cloudViewer::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.

Definition at line 51 of file PoseGraph.h.

◆ ~PoseGraphEdge()

cloudViewer::pipelines::registration::PoseGraphEdge::~PoseGraphEdge ( )

Definition at line 53 of file PoseGraph.cpp.

Member Function Documentation

◆ ConvertFromJsonValue()

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

overridevirtual

Implements cloudViewer::utility::IJsonConvertible.

Definition at line 77 of file PoseGraph.cpp.

References confidence_, cloudViewer::utility::IJsonConvertible::EigenMatrix4dFromJsonArray(), cloudViewer::utility::IJsonConvertible::EigenMatrix6dFromJsonArray(), information_, LogWarning, source_node_id_, target_node_id_, transformation_, and uncertain_.

Referenced by cloudViewer::pipelines::registration::PoseGraph::ConvertFromJsonValue().

◆ ConvertToJsonValue()

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

overridevirtual

Implements cloudViewer::utility::IJsonConvertible.

Definition at line 55 of file PoseGraph.cpp.

References confidence_, cloudViewer::utility::IJsonConvertible::EigenMatrix4dToJsonArray(), cloudViewer::utility::IJsonConvertible::EigenMatrix6dToJsonArray(), information_, source_node_id_, target_node_id_, transformation_, and uncertain_.

Member Data Documentation

◆ confidence_

double cloudViewer::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.

Definition at line 90 of file PoseGraph.h.

Referenced by cloudViewer::pipelines::registration::ComputeLinearSystem(), cloudViewer::pipelines::registration::ComputeResidual(), ConvertFromJsonValue(), ConvertToJsonValue(), cloudViewer::pipelines::registration::CreatePoseGraphWithoutInvalidEdges(), cloudViewer::pipelines::registration::pybind_global_optimization(), cloudViewer::pipelines::registration::UpdateConfidence(), and cloudViewer::pipelines::registration::ValidatePoseGraph().