| 1 | #include "pose_graph.h" |
| 2 | |
| 3 | PoseGraph::PoseGraph() |
| 4 | { |
| 5 | posegraph_visualization = new CameraPoseVisualization(1.0, 0.0, 1.0, 1.0); |
| 6 | posegraph_visualization->setScale(0.1); |
| 7 | posegraph_visualization->setLineWidth(0.01); |
| 8 | t_optimization = std::thread(&PoseGraph::optimize4DoF, this); |
| 9 | earliest_loop_index = -1; |
| 10 | t_drift = Eigen::Vector3d(0, 0, 0); |
| 11 | yaw_drift = 0; |
| 12 | r_drift = Eigen::Matrix3d::Identity(); |
| 13 | w_t_vio = Eigen::Vector3d(0, 0, 0); |
| 14 | w_r_vio = Eigen::Matrix3d::Identity(); |
| 15 | global_index = 0; |
| 16 | sequence_cnt = 0; |
| 17 | sequence_loop.push_back(0); |
| 18 | base_sequence = 1; |
| 19 | |
| 20 | } |
| 21 | |
| 22 | PoseGraph::~PoseGraph() |
| 23 | { |
nothing calls this directly
no test coverage detected