reusex::geometry::PlaneFitQuality Struct Reference

Fit statistics of one per-frame plane detection: the inputs from which the measurement noise of its OrientedPlane3Factor is derived. More...

#include <PlaneGraphOptimizer.hpp>

Public Attributes
int	inliers = 0
	supporting surfel count of the fit
double	residual_rms = 0.0
	RMS point-to-plane distance of the inliers (m).
double	extent_minor = 0.0
	RMS in-plane extent along the weaker of the two principal in-plane axes (m).

Detailed Description

Fit statistics of one per-frame plane detection: the inputs from which the measurement noise of its OrientedPlane3Factor is derived.

Definition at line 125 of file PlaneGraphOptimizer.hpp.

Member Data Documentation

extent_minor

double reusex::geometry::PlaneFitQuality::extent_minor = 0.0

RMS in-plane extent along the weaker of the two principal in-plane axes (m).

Deliberately the minor axis, not the mean footprint radius: gtsam expresses the plane residual in the landmark Unit3's tangent basis, which is arbitrary with respect to the plane's principal axes, so a Diagonal noise model cannot represent true anisotropy. Taking the axis that constrains the normal least is the honest bound.

Definition at line 134 of file PlaneGraphOptimizer.hpp.

inliers

int reusex::geometry::PlaneFitQuality::inliers = 0

supporting surfel count of the fit

Definition at line 126 of file PlaneGraphOptimizer.hpp.

residual_rms

double reusex::geometry::PlaneFitQuality::residual_rms = 0.0

RMS point-to-plane distance of the inliers (m).

Definition at line 127 of file PlaneGraphOptimizer.hpp.

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

• libs/reusex/include/slam/PlaneGraphOptimizer.hpp