Struct BlockPosegraph

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