Struct BlockPosegraph

• Defined in File posegraph.h

Struct Documentation

struct ceres_error_terms::BlockPosegraph

Public Members

Eigen::MatrixXd vertex_poses

Eigen::MatrixXd baseframe_poses

std::unordered_map<int, int> vertex_pose_idx_to_baseframe_idx

Aligned<std::vector, PosegraphConstraint> constraints

Aligned<std::vector, PosePriorConstraint> pose_prior_constriants

Aligned<std::vector, LoopClosureConstraint> loop_closure_constraints