PoseGraphOptimization::Constraint Struct Reference

#include <ImFusion/Vision/PoseGraphOptimization.h>

Constraints between nodes, i.e. relative poses between them. More...

Detailed Description

Constraints between nodes, i.e. relative poses between them.

Public Attributes
int	from = 0
	From node id.
int	to = 0
	To node id.
mat4	T = mat4::Identity()
	Transformation between "from" and "to" nodes.
mat6	information
	Inverse covariance matrix of the pose represented in the format (tx,ty,tz,qx,qy,qz) with (qx,qy,qz) being a unit quaternion.

Member Data Documentation

information

mat6 information

Initial value:

= mat6::
                Identity()

Inverse covariance matrix of the pose represented in the format (tx,ty,tz,qx,qy,qz) with (qx,qy,qz) being a unit quaternion.

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The documentation for this struct was generated from the following file:

• ImFusion/Vision/PoseGraphOptimization.h