reusex::ProjectDB::PoseGraphEdge Struct Reference

One directed edge stored in pose_graph_edges. More...

#include <ProjectDB.hpp>

Collaboration diagram for reusex::ProjectDB::PoseGraphEdge:

Public Attributes
int	from_node_id = 0
int	to_node_id = 0
std::string	edge_type
	"odometry" | "loop_closure" | "panorama"
double	residual = 0.0
	0.5 × whitened squared residual after convergence (GTSAM convention).
double	weight = 1.0
	Translational information weight (1 / sigma_trans²).

Detailed Description

One directed edge stored in pose_graph_edges.

Definition at line 601 of file ProjectDB.hpp.

Member Data Documentation

edge_type

std::string reusex::ProjectDB::PoseGraphEdge::edge_type

"odometry" | "loop_closure" | "panorama"

Definition at line 605 of file ProjectDB.hpp.

from_node_id

int reusex::ProjectDB::PoseGraphEdge::from_node_id = 0

Definition at line 602 of file ProjectDB.hpp.

residual

double reusex::ProjectDB::PoseGraphEdge::residual = 0.0

0.5 × whitened squared residual after convergence (GTSAM convention).

Definition at line 607 of file ProjectDB.hpp.

to_node_id

int reusex::ProjectDB::PoseGraphEdge::to_node_id = 0

Definition at line 603 of file ProjectDB.hpp.

weight

double reusex::ProjectDB::PoseGraphEdge::weight = 1.0

Translational information weight (1 / sigma_trans²).

NaN when not extractable for this edge type.

Definition at line 610 of file ProjectDB.hpp.

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The documentation for this struct was generated from the following file:

• libs/reusex/include/core/ProjectDB.hpp