What a drift-synthesis run did, in the units the benchmark reports. More...

#include <perturb_poses.hpp>

Public Attributes
int	frames = 0
	poses perturbed
double	trajectory_extent = 0.0
	m, bbox diagonal of the SEED centres
double	path_length = 0.0
	m, cumulative seed travel
double	amplitude = 0.0
	solved multiplier on the base gains
bool	calibrated = false
	the search reached the requested ratio
double	drift_ratio = 0.0
	Realised median relative-pose disagreement over temporally distant pairs, as a fraction of trajectory_extent — the quantity target_drift_ratio asks for, and directly comparable to §9.5's per-scan table.
double	median_pair_disagreement = 0.0
	m, numerator of the above
double	median_position_error = 0.0
	m
double	max_position_error = 0.0
	m
double	final_position_error = 0.0
	m, last frame
double	max_rotation_error = 0.0
	deg

Detailed Description

What a drift-synthesis run did, in the units the benchmark reports.

Definition at line 141 of file perturb_poses.hpp.

Member Data Documentation

◆ amplitude

double reusex::geometry::PoseDriftResult::amplitude = 0.0

solved multiplier on the base gains

Definition at line 145 of file perturb_poses.hpp.

◆ calibrated

bool reusex::geometry::PoseDriftResult::calibrated = false

the search reached the requested ratio

Definition at line 146 of file perturb_poses.hpp.

◆ drift_ratio

double reusex::geometry::PoseDriftResult::drift_ratio = 0.0

Realised median relative-pose disagreement over temporally distant pairs, as a fraction of trajectory_extent — the quantity target_drift_ratio asks for, and directly comparable to §9.5's per-scan table.

Definition at line 151 of file perturb_poses.hpp.

◆ final_position_error

double reusex::geometry::PoseDriftResult::final_position_error = 0.0

m, last frame

Definition at line 157 of file perturb_poses.hpp.

◆ frames

int reusex::geometry::PoseDriftResult::frames = 0

poses perturbed

Definition at line 142 of file perturb_poses.hpp.

◆ max_position_error

double reusex::geometry::PoseDriftResult::max_position_error = 0.0

m

Definition at line 156 of file perturb_poses.hpp.

◆ max_rotation_error

double reusex::geometry::PoseDriftResult::max_rotation_error = 0.0

deg

Definition at line 158 of file perturb_poses.hpp.

◆ median_pair_disagreement

double reusex::geometry::PoseDriftResult::median_pair_disagreement = 0.0

m, numerator of the above

Definition at line 152 of file perturb_poses.hpp.

◆ median_position_error

double reusex::geometry::PoseDriftResult::median_position_error = 0.0

m

Definition at line 155 of file perturb_poses.hpp.

◆ path_length

double reusex::geometry::PoseDriftResult::path_length = 0.0

m, cumulative seed travel

Definition at line 144 of file perturb_poses.hpp.

◆ trajectory_extent

double reusex::geometry::PoseDriftResult::trajectory_extent = 0.0

m, bbox diagonal of the SEED centres

Definition at line 143 of file perturb_poses.hpp.

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

libs/reusex/include/slam/perturb_poses.hpp

Public Attributes