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C++ VertexPointXYZ类代码示例

原作者: [db:作者] 来自: [db:来源] 收藏 邀请

本文整理汇总了C++中VertexPointXYZ类的典型用法代码示例。如果您正苦于以下问题：C++ VertexPointXYZ类的具体用法？C++ VertexPointXYZ怎么用？C++ VertexPointXYZ使用的例子？那么恭喜您, 这里精选的类代码示例或许可以为您提供帮助。



在下文中一共展示了VertexPointXYZ类的17个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于我们的系统推荐出更棒的C++代码示例。

示例1: perr

  void EdgeSE3PointXYZDisparity::computeError() {
    //VertexSE3 *cam = static_cast<VertexSE3*>(_vertices[0]);
    VertexPointXYZ *point = static_cast<VertexPointXYZ*>(_vertices[1]);
    const Vector3d& pt = point->estimate();
    //Eigen::Vector4d ppt(pt(0),pt(1),pt(2),1.0);
    
    // VertexCameraCache* vcache = (VertexCameraCache*)cam->getCache(_cacheIds[0]);
    // if (! vcache){
    //   cerr << "fatal error in retrieving cache" << endl;
    // }

    // CacheCamera* vcache = cache;
    // if (! vcache){
    //   cerr << "fatal error in retrieving cache" << endl;
    // }
    
    Eigen::Vector3d p = cache->w2i() * pt;

    Eigen::Vector3d perr;
    perr.head<2>() = p.head<2>()/p(2);
    perr(2) = 1/p(2);
    
    // error, which is backwards from the normal observed - calculated
    // _measurement is the measured projection
    _error = perr - _measurement;
  }
开发者ID:mikejmills，项目名称:g2o，代码行数:26，代码来源:edge_se3_pointxyz_disparity.cpp


示例2: refreshPropertyPtrs

  HyperGraphElementAction* VertexPointXYZDrawAction::operator()(HyperGraph::HyperGraphElement* element, 
                     HyperGraphElementAction::Parameters* params ){

    if (typeid(*element).name()!=_typeName)
      return 0;
    refreshPropertyPtrs(params);
    if (! _previousParams)
      return this;
    
    if (_show && !_show->value())
      return this;
    VertexPointXYZ* that = static_cast<VertexPointXYZ*>(element);
    

    glPushAttrib(GL_ENABLE_BIT | GL_POINT_BIT);
    glDisable(GL_LIGHTING);
    glColor3f(0.8f,0.5f,0.3f);
    if (_pointSize) {
      glPointSize(_pointSize->value());
    }
    glBegin(GL_POINTS);
    glVertex3f((float)that->estimate()(0),(float)that->estimate()(1),(float)that->estimate()(2));
    glEnd();
    glPopAttrib();
    return this;
  }
开发者ID:Aerobota，项目名称:c2tam，代码行数:26，代码来源:vertex_pointxyz.cpp


示例3: J

  void EdgeSE3PointXYZDepth::linearizeOplus() {
    //VertexSE3 *cam = static_cast<VertexSE3 *>(_vertices[0]);
    VertexPointXYZ *vp = static_cast<VertexPointXYZ *>(_vertices[1]);

    const Eigen::Vector3d& pt = vp->estimate();

    Eigen::Vector3d Zcam = cache->w2lMatrix() * pt;

    //  J(0,3) = -0.0;
    J(0,4) = -2*Zcam(2);
    J(0,5) = 2*Zcam(1);

    J(1,3) = 2*Zcam(2);
    //  J(1,4) = -0.0;
    J(1,5) = -2*Zcam(0);

    J(2,3) = -2*Zcam(1);
    J(2,4) = 2*Zcam(0);
    //  J(2,5) = -0.0;

    J.block<3,3>(0,6) = cache->w2lMatrix().rotation();

    Eigen::Matrix<double,3,9> Jprime = params->Kcam_inverseOffsetR()  * J;
    Eigen::Vector3d Zprime = cache->w2i() * pt;

    Eigen::Matrix<double, 3, 9> Jhom;
    Jhom.block<2,9>(0,0) = 1/(Zprime(2)*Zprime(2)) * (Jprime.block<2,9>(0,0)*Zprime(2) - Zprime.head<2>() * Jprime.block<1,9>(2,0));
    Jhom.block<1,9>(2,0) = Jprime.block<1,9>(2,0);

    _jacobianOplusXi = Jhom.block<3,6>(0,0);
    _jacobianOplusXj = Jhom.block<3,3>(0,6);
  }
开发者ID:2maz，项目名称:g2o，代码行数:32，代码来源:edge_se3_pointxyz_depth.cpp


示例4: J

  void EdgeSE3PointXYZ::linearizeOplus() {
    //VertexSE3 *cam = static_cast<VertexSE3 *>(_vertices[0]);
    VertexPointXYZ *vp = static_cast<VertexPointXYZ *>(_vertices[1]);

    Eigen::Vector3d Zcam = cache->w2l() * vp->estimate();

    //  J(0,3) = -0.0;
    J(0,4) = -2*Zcam(2);
    J(0,5) = 2*Zcam(1);

    J(1,3) = 2*Zcam(2);
    //  J(1,4) = -0.0;
    J(1,5) = -2*Zcam(0);

    J(2,3) = -2*Zcam(1);
    J(2,4) = 2*Zcam(0);
    //  J(2,5) = -0.0;

    J.block<3,3>(0,6) = cache->w2l().rotation();

    Eigen::Matrix<double,3,9> Jhom = offsetParam->inverseOffset().rotation() * J;

    _jacobianOplusXi = Jhom.block<3,6>(0,0);
    _jacobianOplusXj = Jhom.block<3,3>(0,6);
  }
开发者ID:AlexandrGraschenkov，项目名称:ORB_SLAM，代码行数:25，代码来源:edge_se3_pointxyz.cpp


示例5: refreshPropertyPtrs

  HyperGraphElementAction* EdgeProjectDisparityDrawAction::operator()(HyperGraph::HyperGraphElement* element, 
                HyperGraphElementAction::Parameters*  params_ ){
  if (typeid(*element).name()!=_typeName)
      return 0;
    refreshPropertyPtrs(params_);
    if (! _previousParams)
      return this;

    if (_show && !_show->value())
      return this;
    EdgeSE3PointXYZDisparity* e =  static_cast<EdgeSE3PointXYZDisparity*>(element);
    VertexSE3* fromEdge = static_cast<VertexSE3*>(e->vertices()[0]);
    VertexPointXYZ* toEdge   = static_cast<VertexPointXYZ*>(e->vertices()[1]);
    if (! fromEdge || ! toEdge)
      return this;
    Eigen::Isometry3d fromTransform=fromEdge->estimate() * e->cameraParameter()->offset();
    glColor3f(LANDMARK_EDGE_COLOR);
    glPushAttrib(GL_ENABLE_BIT);
    glDisable(GL_LIGHTING);
    glBegin(GL_LINES);
    glVertex3f((float)fromTransform.translation().x(),(float)fromTransform.translation().y(),(float)fromTransform.translation().z());
    glVertex3f((float)toEdge->estimate().x(),(float)toEdge->estimate().y(),(float)toEdge->estimate().z());
    glEnd();
    glPopAttrib();
    return this;
  }
开发者ID:mikejmills，项目名称:g2o，代码行数:26，代码来源:edge_se3_pointxyz_disparity.cpp


示例6: T

  void EdgeProjectXYZ2UVQ::linearizeOplus()
  {

    VertexSE3Expmap * vj = static_cast<VertexSE3Expmap *>(_vertices[1]);
    SE3Quat T(vj->estimate());

    VertexPointXYZ* vi = static_cast<VertexPointXYZ*>(_vertices[0]);
    Vector3d xyz = vi->estimate();
    Vector3d xyz_trans = T.map(xyz);

    const double & x = xyz_trans[0];
    const double & y = xyz_trans[1];
    const double & z = xyz_trans[2];
    double z_sq = z*z;
    const double & Fx = vj->_focal_length(0);
    const double & Fy = vj->_focal_length(1);
    double dq_dz = -Fx/z_sq;
    double x_Fx_by_zsq = x*Fx/z_sq;
    double y_Fy_by_zsq = y*Fy/z_sq;


     Matrix3d R = T.rotation().toRotationMatrix();
    _jacobianOplusXi.row(0) = -Fx/z*R.row(0) + x_Fx_by_zsq*R.row(2);
    _jacobianOplusXi.row(1) = -Fy/z*R.row(1) + y_Fy_by_zsq*R.row(2);
    _jacobianOplusXi.row(2) =  -dq_dz*R.row(2);


    _jacobianOplusXj(0,0) =  x*y/z_sq *Fx;
    _jacobianOplusXj(0,1) = -(1+(x*x/z_sq)) *Fx;
    _jacobianOplusXj(0,2) = y/z *Fx;
    _jacobianOplusXj(0,3) = -1./z *Fx;
    _jacobianOplusXj(0,4) = 0;
    _jacobianOplusXj(0,5) = x/z_sq *Fx;


    _jacobianOplusXj(1,0) = (1+y*y/z_sq) *Fy;
    _jacobianOplusXj(1,1) = -x*y/z_sq *Fy;
    _jacobianOplusXj(1,2) = -x/z *Fy;
    _jacobianOplusXj(1,3) = 0;
    _jacobianOplusXj(1,4) = -1./z *Fy;
    _jacobianOplusXj(1,5) = y/z_sq *Fy;

    _jacobianOplusXj(2,0) = -y*dq_dz ;
    _jacobianOplusXj(2,1) = x*dq_dz;
    _jacobianOplusXj(2,2) = 0;
    _jacobianOplusXj(2,3) = 0;
    _jacobianOplusXj(2,4) = 0;
    _jacobianOplusXj(2,5) = -dq_dz ;

//    std::cerr << _jacobianOplusXi << std::endl;
//    std::cerr << _jacobianOplusXj << std::endl;

//    BaseBinaryEdge<3, Vector3d, VertexPointXYZ, VertexSE3Expmap, false>::linearizeOplus();
//    std::cerr << _jacobianOplusXi << std::endl;
//    std::cerr << _jacobianOplusXj << std::endl;
  }
开发者ID:AIRLab-POLIMI，项目名称:ROAMFREE，代码行数:56，代码来源:types_six_dof_expmap.cpp


示例7: 

  void EdgeSE3PointXYZ::computeError() {
    // from cam to point (track)
    //VertexSE3 *cam = static_cast<VertexSE3*>(_vertices[0]);
    VertexPointXYZ *point = static_cast<VertexPointXYZ*>(_vertices[1]);

    Eigen::Vector3d perr = cache->w2n() * point->estimate();

    // error, which is backwards from the normal observed - calculated
    // _measurement is the measured projection
    _error = perr - _measurement;
    //    std::cout << _error << std::endl << std::endl;
  }
开发者ID:AlexandrGraschenkov，项目名称:ORB_SLAM，代码行数:12，代码来源:edge_se3_pointxyz.cpp


示例8: 

  void EdgeSE3LotsOfXYZ::computeError(){
    VertexSE3 * pose = static_cast<VertexSE3 *> (_vertices[0]);

    for(unsigned int i=0; i<_observedPoints; i++){
      VertexPointXYZ * xyz = static_cast<VertexPointXYZ *> (_vertices[1+i]);
      Vector3D m = pose->estimate().inverse() * xyz->estimate();

      unsigned int index = 3*i;
      _error[index] = m[0] - _measurement[index];
      _error[index+1] = m[1] - _measurement[index+1];
      _error[index+2] = m[2] - _measurement[index+2];
    }
  }
开发者ID:2maz，项目名称:g2o，代码行数:13，代码来源:edge_se3_lotsofxyz.cpp


示例9: operator

HyperGraphElementAction* VertexPointXYZWriteGnuplotAction::operator()(HyperGraph::HyperGraphElement* element, HyperGraphElementAction::Parameters* params_ )
{
    if (typeid(*element).name()!=_typeName)
        return 0;
    WriteGnuplotAction::Parameters* params=static_cast<WriteGnuplotAction::Parameters*>(params_);
    if (!params->os) {
        std::cerr << __PRETTY_FUNCTION__ << ": warning, no valid os specified" << std::endl;
        return 0;
    }

    VertexPointXYZ* v = static_cast<VertexPointXYZ*>(element);
    *(params->os) << v->estimate().x() << " " << v->estimate().y() << " " << v->estimate().z() << " " << std::endl;
    return this;
}
开发者ID:ConfusedReality，项目名称:pkg_graph-optimization_g2o，代码行数:14，代码来源:vertex_pointxyz.cpp


示例10: perr

  bool EdgeSE3PointXYZDepth::setMeasurementFromState(){
    //VertexSE3 *cam = static_cast<VertexSE3*>(_vertices[0]);
    VertexPointXYZ *point = static_cast<VertexPointXYZ*>(_vertices[1]);

    // calculate the projection
    const Eigen::Vector3d& pt = point->estimate();

    Eigen::Vector3d p = cache->w2i() * pt;
    Eigen::Vector3d perr;
    perr.head<2>() = p.head<2>()/p(2);
    perr(2) = p(2);
    _measurement = perr;
    return true;
  }
开发者ID:2maz，项目名称:g2o，代码行数:14，代码来源:edge_se3_pointxyz_depth.cpp


示例11: assert

  void EdgeSE3PointXYZDepth::initialEstimate(const OptimizableGraph::VertexSet& from, OptimizableGraph::Vertex* /*to_*/)
  {
    (void) from;
    assert(from.size() == 1 && from.count(_vertices[0]) == 1 && "Can not initialize VertexDepthCam position by VertexTrackXYZ");

    VertexSE3 *cam = dynamic_cast<VertexSE3*>(_vertices[0]);
    VertexPointXYZ *point = dynamic_cast<VertexPointXYZ*>(_vertices[1]);
    const Eigen::Matrix<double, 3, 3>& invKcam = params->invKcam();
    Eigen::Vector3d p;
    p(2) = _measurement(2);
    p.head<2>() = _measurement.head<2>()*p(2);
    p=invKcam*p;
    point->setEstimate(cam->estimate() * (params->offsetMatrix() * p));
  }
开发者ID:2maz，项目名称:g2o，代码行数:14，代码来源:edge_se3_pointxyz_depth.cpp


示例12: assert

  void EdgeSE3PointXYZ::initialEstimate(const OptimizableGraph::VertexSet& from, OptimizableGraph::Vertex* /*to_*/)
  {
    (void) from;
    assert(from.size() == 1 && from.count(_vertices[0]) == 1 && "Can not initialize VertexDepthCam position by VertexTrackXYZ");

    VertexSE3 *cam = dynamic_cast<VertexSE3*>(_vertices[0]);
    VertexPointXYZ *point = dynamic_cast<VertexPointXYZ*>(_vertices[1]);
    // SE3OffsetCache* vcache = (SE3OffsetCache* ) cam->getCache(_cacheIds[0]);
    // if (! vcache){
    //   cerr << "fatal error in retrieving cache" << endl;
    // }
    // SE3OffsetParameters* params=vcache->params;
    Eigen::Vector3d p=_measurement;
    point->setEstimate(cam->estimate() * (offsetParam->offset() * p));
  }
开发者ID:AlexandrGraschenkov，项目名称:ORB_SLAM，代码行数:15，代码来源:edge_se3_pointxyz.cpp


示例13: J

  void EdgeSE3PointXYZDisparity::linearizeOplus() {
    //VertexSE3 *cam = static_cast<VertexSE3 *>(_vertices[0]);
    VertexPointXYZ *vp = static_cast<VertexPointXYZ *>(_vertices[1]);

    // VertexCameraCache* vcache = (VertexCameraCache*)cam->getCache(_cacheIds[0]);
    // if (! vcache){
    //   cerr << "fatal error in retrieving cache" << endl;
    // }

    // CacheCamera* vcache = cache;
    // if (! vcache){
    //   cerr << "fatal error in retrieving cache" << endl;
    // }


    const Eigen::Vector3d& pt = vp->estimate();

    Eigen::Vector3d Zcam = cache->w2l() * vp->estimate();

    //  J(0,3) = -0.0;
    J(0,4) = -2*Zcam(2);
    J(0,5) = 2*Zcam(1);

    J(1,3) = 2*Zcam(2);
    //  J(1,4) = -0.0;
    J(1,5) = -2*Zcam(0);

    J(2,3) = -2*Zcam(1);
    J(2,4) = 2*Zcam(0);
    //  J(2,5) = -0.0;

    J.block<3,3>(0,6) = cache->w2l().rotation();

    //Eigen::Matrix<double,3,9> Jprime = vcache->params->Kcam_inverseOffsetR  * J;
    Eigen::Matrix<double,3,9> Jprime = params->Kcam_inverseOffsetR()  * J;
    Eigen::Matrix<double, 3, 9> Jhom;
    Eigen::Vector3d Zprime = cache->w2i() * pt;

    Jhom.block<2,9>(0,0) = 1/(Zprime(2)*Zprime(2)) * (Jprime.block<2,9>(0,0)*Zprime(2) - Zprime.head<2>() * Jprime.block<1,9>(2,0));
    Jhom.block<1,9>(2,0) = - 1/(Zprime(2)*Zprime(2)) * Jprime.block<1,9>(2,0);

    _jacobianOplusXi = Jhom.block<3,6>(0,0);
    _jacobianOplusXj = Jhom.block<3,3>(0,6);
  }
开发者ID:mikejmills，项目名称:g2o，代码行数:44，代码来源:edge_se3_pointxyz_disparity.cpp


示例14: assert

  void EdgeSE3PointXYZDisparity::initialEstimate(const OptimizableGraph::VertexSet& from, OptimizableGraph::Vertex* /*to*/)
  {
    (void) from;
    assert(from.size() == 1 && from.count(_vertices[0]) == 1 && "Can not initialize VertexDepthCam position by VertexTrackXYZ");
    VertexSE3 *cam = dynamic_cast<VertexSE3*>(_vertices[0]);
    VertexPointXYZ *point = dynamic_cast<VertexPointXYZ*>(_vertices[1]);

    // VertexCameraCache* vcache = (VertexCameraCache* ) cam->getCache(_cacheIds[0]);
    // if (! vcache){
    //   cerr << "fatal error in retrieving cache" << endl;
    // }
    //ParameterCamera* params=vcache->params;
    const Eigen::Matrix<double, 3, 3>& invKcam = params->invKcam();
    Eigen::Vector3d p;
    double w=1./_measurement(2);
    p.head<2>() = _measurement.head<2>()*w;
    p(2) = w;
    p = invKcam * p;
    p = cam->estimate() * (params->offset() * p);
    point->setEstimate(p);
  }
开发者ID:mikejmills，项目名称:g2o，代码行数:21，代码来源:edge_se3_pointxyz_disparity.cpp


示例15: initializeDrawActionsCache

HyperGraphElementAction* VertexPointXYZDrawAction::operator()(HyperGraph::HyperGraphElement* element,
        HyperGraphElementAction::Parameters* params ) {

    if (typeid(*element).name()!=_typeName)
        return 0;
    initializeDrawActionsCache();
    refreshPropertyPtrs(params);
    if (! _previousParams)
        return this;

    if (_show && !_show->value())
        return this;
    VertexPointXYZ* that = static_cast<VertexPointXYZ*>(element);


    glPushMatrix();
    glPushAttrib(GL_ENABLE_BIT | GL_POINT_BIT);
    glDisable(GL_LIGHTING);
    glColor3f(LANDMARK_VERTEX_COLOR);
    float ps = _pointSize ? _pointSize->value() :  1.f;
    glTranslatef((float)that->estimate()(0),(float)that->estimate()(1),(float)that->estimate()(2));
    opengl::drawPoint(ps);
    glPopAttrib();
    drawCache(that->cacheContainer(), params);
    drawUserData(that->userData(), params);
    glPopMatrix();
    return this;
}
开发者ID:ConfusedReality，项目名称:pkg_graph-optimization_g2o，代码行数:28，代码来源:vertex_pointxyz.cpp


示例16: refreshPropertyPtrs

  HyperGraphElementAction* EdgeSE3PointXYZDrawAction::operator()(HyperGraph::HyperGraphElement* element,
               HyperGraphElementAction::Parameters* params_){
    if (typeid(*element).name()!=_typeName)
      return 0;
    refreshPropertyPtrs(params_);
    if (! _previousParams)
      return this;

    if (_show && !_show->value())
      return this;

    EdgeSE3PointXYZ* e =  static_cast<EdgeSE3PointXYZ*>(element);
    VertexSE3* fromEdge = static_cast<VertexSE3*>(e->vertex(0));
    VertexPointXYZ* toEdge   = static_cast<VertexPointXYZ*>(e->vertex(1));
    glColor3f(0.8f,0.3f,0.3f);
    glPushAttrib(GL_ENABLE_BIT);
    glDisable(GL_LIGHTING);
    glBegin(GL_LINES);
    glVertex3f((float)fromEdge->estimate().translation().x(),(float)fromEdge->estimate().translation().y(),(float)fromEdge->estimate().translation().z());
    glVertex3f((float)toEdge->estimate().x(),(float)toEdge->estimate().y(),(float)toEdge->estimate().z());
    glEnd();
    glPopAttrib();
    return this;
  }
开发者ID:AlexandrGraschenkov，项目名称:ORB_SLAM，代码行数:24，代码来源:edge_se3_pointxyz.cpp


示例17: main

int main(int argc, char** argv)
{
  string inputFilename;
  string outputFilename;
  // command line parsing
  CommandArgs commandLineArguments;
  commandLineArguments.paramLeftOver("gm2dl-input", inputFilename, "", "gm2dl file which will be processed");
  commandLineArguments.paramLeftOver("gm2dl-output", outputFilename, "", "name of the output file");

  commandLineArguments.parseArgs(argc, argv);

  OptimizableGraph inputGraph;
  bool loadStatus = inputGraph.load(inputFilename.c_str());
  if (! loadStatus) {
    cerr << "Error while loading input data" << endl;
    return 1;
  }

  OptimizableGraph outputGraph;

  // process all the vertices first
  double fx = -1;
  double baseline = -1;
  bool firstCam = true;
  for (OptimizableGraph::VertexIDMap::const_iterator it = inputGraph.vertices().begin(); it != inputGraph.vertices().end(); ++it) {
    if (dynamic_cast<VertexCam*>(it->second)) {
      VertexCam* v = static_cast<VertexCam*>(it->second);
      if (firstCam) {
        firstCam = false;
        g2o::ParameterCamera* camParams = new g2o::ParameterCamera;
        camParams->setId(0);
        const SBACam& c = v->estimate();
        baseline = c.baseline;
        fx = c.Kcam(0,0);
        camParams->setKcam(c.Kcam(0,0), c.Kcam(1,1), c.Kcam(0,2), c.Kcam(1,2));
        outputGraph.addParameter(camParams);
      }

      VertexSE3* ov = new VertexSE3;
      ov->setId(v->id());
      Eigen::Isometry3d p;
      p = v->estimate().rotation();
      p.translation() = v->estimate().translation();
      ov->setEstimate(p);
      if (! outputGraph.addVertex(ov)) {
        assert(0 && "Failure adding camera vertex");
      }
    }
    else if (dynamic_cast<VertexSBAPointXYZ*>(it->second)) {
      VertexSBAPointXYZ* v = static_cast<VertexSBAPointXYZ*>(it->second);

      VertexPointXYZ* ov = new VertexPointXYZ;
      ov->setId(v->id());
      ov->setEstimate(v->estimate());
      if (! outputGraph.addVertex(ov)) {
        assert(0 && "Failure adding camera vertex");
      }
    }
  }
  
  for (OptimizableGraph::EdgeSet::const_iterator it = inputGraph.edges().begin(); it != inputGraph.edges().end(); ++it) {
    if (dynamic_cast<EdgeProjectP2SC*>(*it)) {
      EdgeProjectP2SC* e = static_cast<EdgeProjectP2SC*>(*it);

      EdgeSE3PointXYZDisparity* oe = new EdgeSE3PointXYZDisparity;
      oe->vertices()[0] = outputGraph.vertex(e->vertices()[1]->id());
      oe->vertices()[1] = outputGraph.vertex(e->vertices()[0]->id());

      double kx = e->measurement().x();
      double ky = e->measurement().y();
      double disparity = kx - e->measurement()(2);

      oe->setMeasurement(Eigen::Vector3d(kx, ky, disparity / (fx * baseline)));
      oe->setInformation(e->information()); // TODO convert information matrix
      oe->setParameterId(0,0);
      if (! outputGraph.addEdge(oe)) {
        assert(0 && "error adding edge");
      }
    }
  }

  cout << "Vertices in/out:\t" << inputGraph.vertices().size() << " " << outputGraph.vertices().size() << endl;
  cout << "Edges in/out:\t" << inputGraph.edges().size() << " " << outputGraph.edges().size() << endl;

  cout << "Writing output ... " << flush;
  outputGraph.save(outputFilename.c_str());
  cout << "done." << endl;
  return 0;
}
开发者ID:2maz，项目名称:g2o，代码行数:89，代码来源:convert_sba_slam3d.cpp



注：本文中的VertexPointXYZ类示例由纯净天空整理自Github/MSDocs等源码及文档管理平台，相关代码片段筛选自各路编程大神贡献的开源项目，源码版权归原作者所有，传播和使用请参考对应项目的License；未经允许，请勿转载。

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