cv::kinfu::detail::PoseGraph Class Reference

#include <opencv2/rgbd/detail/pose_graph.hpp>

Public Member Functions
virtual	~PoseGraph ()
virtual void	addEdge (size_t _sourceNodeId, size_t _targetNodeId, const Affine3f &_transformation, const Matx66f &_information=Matx66f::eye())=0
virtual void	addNode (size_t _nodeId, const Affine3d &_pose, bool fixed)=0
virtual double	calcEnergy () const =0
virtual size_t	getEdgeEnd (size_t i) const =0
virtual size_t	getEdgeStart (size_t i) const =0
virtual Affine3d	getNodePose (size_t nodeId) const =0
virtual std::vector< size_t >	getNodesIds () const =0
virtual size_t	getNumEdges () const =0
virtual size_t	getNumNodes () const =0
virtual bool	isNodeExist (size_t nodeId) const =0
virtual bool	isNodeFixed (size_t nodeId) const =0
virtual bool	isValid () const =0
virtual int	optimize (const cv::TermCriteria &tc=cv::TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 100, 1e-6))=0
virtual bool	setNodeFixed (size_t nodeId, bool fixed)=0

Static Public Member Functions
static Ptr< PoseGraph >	create ()

Constructor & Destructor Documentation

~PoseGraph()

virtual cv::kinfu::detail::PoseGraph::~PoseGraph ( )

virtual

Member Function Documentation

addEdge()

virtual void cv::kinfu::detail::PoseGraph::addEdge ( size_t  _sourceNodeId, size_t  _targetNodeId, const Affine3f &  _transformation, const Matx66f &  _information = Matx66f::eye()  )

pure virtual

addNode()

virtual void cv::kinfu::detail::PoseGraph::addNode ( size_t  _nodeId, const Affine3d &  _pose, bool  fixed  )

pure virtual

calcEnergy()

virtual double cv::kinfu::detail::PoseGraph::calcEnergy ( ) const

pure virtual

create()

static Ptr<PoseGraph> cv::kinfu::detail::PoseGraph::create ( )

static

getEdgeEnd()

virtual size_t cv::kinfu::detail::PoseGraph::getEdgeEnd ( size_t  i ) const

pure virtual

getEdgeStart()

virtual size_t cv::kinfu::detail::PoseGraph::getEdgeStart ( size_t  i ) const

pure virtual

getNodePose()

virtual Affine3d cv::kinfu::detail::PoseGraph::getNodePose ( size_t  nodeId ) const

pure virtual

getNodesIds()

virtual std::vector<size_t> cv::kinfu::detail::PoseGraph::getNodesIds ( ) const

pure virtual

getNumEdges()

virtual size_t cv::kinfu::detail::PoseGraph::getNumEdges ( ) const

pure virtual

getNumNodes()

virtual size_t cv::kinfu::detail::PoseGraph::getNumNodes ( ) const

pure virtual

isNodeExist()

virtual bool cv::kinfu::detail::PoseGraph::isNodeExist ( size_t  nodeId ) const

pure virtual

isNodeFixed()

virtual bool cv::kinfu::detail::PoseGraph::isNodeFixed ( size_t  nodeId ) const

pure virtual

isValid()

virtual bool cv::kinfu::detail::PoseGraph::isValid ( ) const

pure virtual

optimize()

virtual int cv::kinfu::detail::PoseGraph::optimize ( const cv::TermCriteria &  tc = cv::TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 100, 1e-6) )

pure virtual

setNodeFixed()

virtual bool cv::kinfu::detail::PoseGraph::setNodeFixed ( size_t  nodeId, bool  fixed  )

pure virtual

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

• opencv2/rgbd/detail/pose_graph.hpp