21#include <gtsam/geometry/Unit3.h>
26#include <unordered_map>
55 using KeyPair = std::pair<Key, Key>;
56 using TranslationEdges = std::vector<BinaryMeasurement<Unit3>>;
61 std::map<KeyPair, double> edgeWeights_;
69 MFAS(
const std::map<KeyPair, double> &edgeWeights)
70 : edgeWeights_(edgeWeights) {}
80 MFAS(
const TranslationEdges &relativeTranslations,
81 const Unit3 &projectionDirection);
96 std::map<KeyPair, double> computeOutlierWeights()
const;
99typedef std::map<std::pair<Key, Key>,
double> KeyPairDoubleMap;
Binary measurement represents a measurement between two keys in a graph. A binary measurement is simi...
Global functions in a separate testing namespace.
Definition chartTesting.h:28
FastVector< Key > KeyVector
Define collection type once and for all - also used in wrappers.
Definition Key.h:86
Represents a 3D point on a unit sphere.
Definition Unit3.h:43
The MFAS class to solve a Minimum feedback arc set (MFAS) problem.
Definition MFAS.h:51
MFAS(const std::map< KeyPair, double > &edgeWeights)
Construct from the weighted directed edges between the nodes.
Definition MFAS.h:69