Struct BlockPosegraph¶
Defined in File posegraph.h
Struct Documentation¶
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struct ceres_error_terms::BlockPosegraph¶
Public Members
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Eigen::MatrixXd vertex_poses¶
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Eigen::MatrixXd baseframe_poses¶
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std::unordered_map<int, int> vertex_pose_idx_to_baseframe_idx¶
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Aligned<std::vector, PosegraphConstraint> constraints¶
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Aligned<std::vector, PosePriorConstraint> pose_prior_constriants¶
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Aligned<std::vector, LoopClosureConstraint> loop_closure_constraints¶
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Eigen::MatrixXd vertex_poses¶