A metric relative-pose constraint between two frames, ready to become a gtsam::BetweenFactor<Pose3>. More...

#include <LoopClosure.hpp>

Public Attributes
int	i = -1
	first frame (index into the frames vector)
int	j = -1
	second frame (index into the frames vector)
Eigen::Matrix4d	T_ij = Eigen::Matrix4d::Identity()
	relative pose pose(i)^-1 * pose(j)
double	sigma_rot = 0.05
	rotational std of the edge (rad)
double	sigma_trans = 0.05
	translational std of the edge (m)
int	inliers = 0
	RANSAC inlier correspondences supporting it.

Detailed Description

A metric relative-pose constraint between two frames, ready to become a gtsam::BetweenFactor<Pose3>.

Indices are positions in the frame list the optimizer works on (NOT database node ids). The measurement is the relative pose T such that pose(j) = pose(i) * T, i.e. T = pose(i)^-1 * pose(j), expressed in the same optical->world convention the graph uses.

Definition at line 50 of file LoopClosure.hpp.

Member Data Documentation

◆ i

int reusex::geometry::LoopEdge::i = -1

first frame (index into the frames vector)

Definition at line 51 of file LoopClosure.hpp.

◆ inliers

int reusex::geometry::LoopEdge::inliers = 0

RANSAC inlier correspondences supporting it.

Definition at line 57 of file LoopClosure.hpp.

◆ j

int reusex::geometry::LoopEdge::j = -1

second frame (index into the frames vector)

Definition at line 52 of file LoopClosure.hpp.

◆ sigma_rot

double reusex::geometry::LoopEdge::sigma_rot = 0.05

rotational std of the edge (rad)

Definition at line 55 of file LoopClosure.hpp.

◆ sigma_trans

double reusex::geometry::LoopEdge::sigma_trans = 0.05

translational std of the edge (m)

Definition at line 56 of file LoopClosure.hpp.

◆ T_ij

Eigen::Matrix4d reusex::geometry::LoopEdge::T_ij = Eigen::Matrix4d::Identity()

relative pose pose(i)^-1 * pose(j)

Definition at line 54 of file LoopClosure.hpp.

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

libs/reusex/include/slam/LoopClosure.hpp

Public Attributes