Outcome of aligning one panorama. More...

#include <PanoramaAlignment.hpp>

Collaboration diagram for reusex::geometry::PanoramaAlignmentResult:

Public Attributes
int	pano_id = -1
int	seed_node = -1
bool	aligned = false
int	inliers = 0
	pooled PnP inliers supporting the pose
double	rms_deg = -1.0
	angular reprojection RMS over inliers (deg)
std::array< double, 16 >	pose
	panorama-optical->world, row-major 4x4 (same convention as ProjectDB::sensor_frame_pose).
double	delta_from_seed_m = -1.0
	Translation delta from the timestamp-seed placement (m); -1 when there is no seed, or when the seed frame carries no usable stored pose to measure against (#336) — in which case the max_correction_m plausibility gate is skipped and a warning names the frame.
bool	translation_fixed = false
	True when the panorama centre was fixed to the seed frame's stored position (PanoramaAlignmentOptions::fix_translation).

Detailed Description

Outcome of aligning one panorama.

Definition at line 107 of file PanoramaAlignment.hpp.

Member Data Documentation

◆ aligned

bool reusex::geometry::PanoramaAlignmentResult::aligned = false

Definition at line 110 of file PanoramaAlignment.hpp.

◆ delta_from_seed_m

double reusex::geometry::PanoramaAlignmentResult::delta_from_seed_m = -1.0

Translation delta from the timestamp-seed placement (m); -1 when there is no seed, or when the seed frame carries no usable stored pose to measure against (#336) — in which case the max_correction_m plausibility gate is skipped and a warning names the frame.

Always 0.0 when PanoramaAlignmentOptions::fix_translation was set.

Definition at line 122 of file PanoramaAlignment.hpp.

◆ inliers

int reusex::geometry::PanoramaAlignmentResult::inliers = 0

pooled PnP inliers supporting the pose

Definition at line 111 of file PanoramaAlignment.hpp.

◆ pano_id

int reusex::geometry::PanoramaAlignmentResult::pano_id = -1

Definition at line 108 of file PanoramaAlignment.hpp.

◆ pose

std::array<double, 16> reusex::geometry::PanoramaAlignmentResult::pose

Initial value:

= {1, 0, 0, 0, 0, 1, 0, 0,

0, 0, 1, 0, 0, 0, 0, 1}

panorama-optical->world, row-major 4x4 (same convention as ProjectDB::sensor_frame_pose).

Identity when !aligned.

Definition at line 115 of file PanoramaAlignment.hpp.

◆ rms_deg

double reusex::geometry::PanoramaAlignmentResult::rms_deg = -1.0

angular reprojection RMS over inliers (deg)

Definition at line 112 of file PanoramaAlignment.hpp.

◆ seed_node

int reusex::geometry::PanoramaAlignmentResult::seed_node = -1

Definition at line 109 of file PanoramaAlignment.hpp.

◆ translation_fixed

bool reusex::geometry::PanoramaAlignmentResult::translation_fixed = false

True when the panorama centre was fixed to the seed frame's stored position (PanoramaAlignmentOptions::fix_translation).

Callers use this to emit "translation fixed (seed node position)" in dry-run output rather than a misleading delta of 0.

Definition at line 127 of file PanoramaAlignment.hpp.

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

libs/reusex/include/slam/PanoramaAlignment.hpp

Public Attributes