Summary statistics from a plane-graph optimization run. More...

#include <PlaneGraphOptimizer.hpp>

Public Attributes
bool	converged = false
	optimizer produced a solution
int	frames = 0
	frames that participated
int	planes_detected = 0
	total per-frame plane detections
int	landmarks = 0
	persistent landmarks entering the graph
int	plane_factors = 0
	OrientedPlane3 observation factors.
int	iterations = 0
	optimizer iterations performed
double	initial_error = 0.0
	factor-graph error before optimization
double	final_error = 0.0
	factor-graph error after optimization
double	max_pose_shift = 0.0
	largest per-frame translation change (m)
int	rounds = 0
	association/optimization rounds actually performed
int	landmarks_rejected_overlap = 0
	merges blocked by the overlap gate
int	landmarks_rejected_degenerate
	landmarks dropped as near-collinear
int	underconstrained_frames = 0
	frames whose odometry was tightened
int	loop_edges = 0
	wide-baseline loop BetweenFactors added
int	panorama_loop_edges = 0
	Of loop_edges, how many came from the panorama front-end (#236).
int	plane_noise_clamped_low = 0
	Observations whose noise scale hit plane_weight_min (trusted as hard as the model allows) and plane_weight_max (distrusted as hard as it allows).
int	plane_noise_clamped_high = 0
double	median_fit_sigma_normal = 0.0
	Median fit sigmas across all detections, the values the scales are normalised by (0 under PlaneNoiseModel::uniform).
double	median_fit_sigma_distance = 0.0
	m

Detailed Description

Summary statistics from a plane-graph optimization run.

Definition at line 438 of file PlaneGraphOptimizer.hpp.

Member Data Documentation

◆ converged

bool reusex::geometry::PlaneGraphResult::converged = false

optimizer produced a solution

Definition at line 439 of file PlaneGraphOptimizer.hpp.

◆ final_error

double reusex::geometry::PlaneGraphResult::final_error = 0.0

factor-graph error after optimization

Definition at line 446 of file PlaneGraphOptimizer.hpp.

◆ frames

int reusex::geometry::PlaneGraphResult::frames = 0

frames that participated

Definition at line 440 of file PlaneGraphOptimizer.hpp.

◆ initial_error

double reusex::geometry::PlaneGraphResult::initial_error = 0.0

factor-graph error before optimization

Definition at line 445 of file PlaneGraphOptimizer.hpp.

◆ iterations

int reusex::geometry::PlaneGraphResult::iterations = 0

optimizer iterations performed

Definition at line 444 of file PlaneGraphOptimizer.hpp.

◆ landmarks

int reusex::geometry::PlaneGraphResult::landmarks = 0

persistent landmarks entering the graph

Definition at line 442 of file PlaneGraphOptimizer.hpp.

◆ landmarks_rejected_degenerate

int reusex::geometry::PlaneGraphResult::landmarks_rejected_degenerate

Initial value:

=

0

landmarks dropped as near-collinear

Definition at line 450 of file PlaneGraphOptimizer.hpp.

◆ landmarks_rejected_overlap

int reusex::geometry::PlaneGraphResult::landmarks_rejected_overlap = 0

merges blocked by the overlap gate

Definition at line 449 of file PlaneGraphOptimizer.hpp.

◆ loop_edges

int reusex::geometry::PlaneGraphResult::loop_edges = 0

wide-baseline loop BetweenFactors added

Definition at line 453 of file PlaneGraphOptimizer.hpp.

◆ max_pose_shift

double reusex::geometry::PlaneGraphResult::max_pose_shift = 0.0

largest per-frame translation change (m)

Definition at line 447 of file PlaneGraphOptimizer.hpp.

◆ median_fit_sigma_distance

double reusex::geometry::PlaneGraphResult::median_fit_sigma_distance = 0.0

m

Definition at line 467 of file PlaneGraphOptimizer.hpp.

◆ median_fit_sigma_normal

double reusex::geometry::PlaneGraphResult::median_fit_sigma_normal = 0.0

Median fit sigmas across all detections, the values the scales are normalised by (0 under PlaneNoiseModel::uniform).

Reported because they are the run's own estimate of what a typical plane observation is worth. rad

Definition at line 466 of file PlaneGraphOptimizer.hpp.

◆ panorama_loop_edges

int reusex::geometry::PlaneGraphResult::panorama_loop_edges = 0

Of loop_edges, how many came from the panorama front-end (#236).

Reported separately so a run's panorama contribution is auditable.

Definition at line 456 of file PlaneGraphOptimizer.hpp.

◆ plane_factors

int reusex::geometry::PlaneGraphResult::plane_factors = 0

OrientedPlane3 observation factors.

Definition at line 443 of file PlaneGraphOptimizer.hpp.

◆ plane_noise_clamped_high

int reusex::geometry::PlaneGraphResult::plane_noise_clamped_high = 0

Definition at line 462 of file PlaneGraphOptimizer.hpp.

◆ plane_noise_clamped_low

int reusex::geometry::PlaneGraphResult::plane_noise_clamped_low = 0

Observations whose noise scale hit plane_weight_min (trusted as hard as the model allows) and plane_weight_max (distrusted as hard as it allows).

Both saturating for most detections means the clamp — not the fit statistics — is deciding the weights, i.e. the range is too narrow.

Definition at line 461 of file PlaneGraphOptimizer.hpp.

◆ planes_detected

int reusex::geometry::PlaneGraphResult::planes_detected = 0

total per-frame plane detections

Definition at line 441 of file PlaneGraphOptimizer.hpp.

◆ rounds

int reusex::geometry::PlaneGraphResult::rounds = 0

association/optimization rounds actually performed

Definition at line 448 of file PlaneGraphOptimizer.hpp.

◆ underconstrained_frames

int reusex::geometry::PlaneGraphResult::underconstrained_frames = 0

frames whose odometry was tightened

Definition at line 452 of file PlaneGraphOptimizer.hpp.

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

libs/reusex/include/slam/PlaneGraphOptimizer.hpp

Public Attributes