26 #include <unordered_map> 69 MFAS(
const std::map<KeyPair, double> &edgeWeights)
70 : edgeWeights_(edgeWeights) {}
81 const Unit3 &projectionDirection);
std::map< KeyPair, double > edgeWeights_
std::vector< BinaryMeasurement< Unit3 >> TranslationEdges
std::map< KeyPair, double > computeOutlierWeights() const
Computes the outlier weights of the graph. We define the outlier weight of a edge to be zero if the e...
MFAS(const std::map< KeyPair, double > &edgeWeights)
Construct from the weighted directed edges between the nodes. Each node is identified by a Key...
Represents a 3D point on a unit sphere.
FastVector< Key > KeyVector
Define collection type once and for all - also used in wrappers.
KeyVector computeOrdering() const
Computes the 1D MFAS ordering of nodes in the graph.
std::pair< Key, Key > KeyPair
std::map< std::pair< Key, Key >, double > KeyPairDoubleMap
Binary measurement represents a measurement between two keys in a graph. A binary measurement is simi...