Reading log files of dense matching about open3d HOT 5 CLOSED

Very good.

I think we need a specialized data structure to be fed into GraphOptimization. As usual, it should be a IJsonConvertible object, and JSON is the default IO format of it. Similar to PinholeCameraTrajectory, it can read data from .log file too.

Actually, can we have a class like PoseGraph, it is defined as:

class PoseGraphNode : public IJsonConvertible
{
    public:
        Eigen::Matrix4d pose_;
};

class PoseGraphEdge : public IJsonConvertible
{
    public:
        int target_node_id_, source_node_id_;
        Eigen::Matrix4d trnasormation_;
        bool uncertain_;          // odometry edge always have uncertain = false, loop closure edges have them as true
};

class PoseGraph : public IJsonConvertible
{
    public:
        std::vector<PoseGraphNode> nodes_;
        std::vector<PoseGraphEdge> edges_;
};

from open3d.

Great. Let's say .pose for the extension of pose graph file.
I would need to add following files:

IO\FilePOSE.cpp
IO\ClassIO\PoseGraphIO.cpp&h
Core\Geometry\PoseGraph.cpp&h

from open3d.

I think we also need to have information field in PoseGraphEdge, how do you think?

from open3d.

No pose file. Just json. All these small meta data should be in json format.
And I do have a class check for each of the json file.

And yes, information matrix for each of the PoseGraphEdge.

Add the files you need.

from open3d.

Finished implementation. See #50

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