cloudViewer.pipelines.registration.PoseGraphEdge

class cloudViewer.pipelines.registration.PoseGraphEdge

Edge of PoseGraph.

__init__(*args, **kwargs)

Overloaded function.

1. __init__(self: cloudViewer.pipelines.registration.PoseGraphEdge) -> None

Default constructor

2. __init__(self: cloudViewer.pipelines.registration.PoseGraphEdge, arg0: cloudViewer.pipelines.registration.PoseGraphEdge) -> None

Copy constructor

3. __init__(self: cloudViewer.pipelines.registration.PoseGraphEdge, source_node_id: typing.SupportsInt = -1, target_node_id: typing.SupportsInt = -1, transformation: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, “[4, 4]”] = array([[1., 0., 0., 0.], [0., 1., 0., 0.], [0., 0., 1., 0.], [0., 0., 0., 1.]]), information: typing.Annotated[numpy.typing.ArrayLike, 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: typing.SupportsFloat = 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