reusex::geometry::detail::PanoResection Struct Reference

One panorama's independent resection against one frame. More...

#include <PanoramaLoopEdges.hpp>

Public Attributes
int	frame = -1
	index into the optimizer's frame vector
Eigen::Matrix4d	T_pano_frame = Eigen::Matrix4d::Identity()
	pano-from-frame: maps a point in the frame's optical coordinates into the panorama's coordinates.
int	inliers = 0
	gated bearing inliers supporting this resection

Detailed Description

One panorama's independent resection against one frame.

Definition at line 193 of file PanoramaLoopEdges.hpp.

Member Data Documentation

frame

int reusex::geometry::detail::PanoResection::frame = -1

index into the optimizer's frame vector

Definition at line 194 of file PanoramaLoopEdges.hpp.

inliers

int reusex::geometry::detail::PanoResection::inliers = 0

gated bearing inliers supporting this resection

Definition at line 198 of file PanoramaLoopEdges.hpp.

T_pano_frame

Eigen::Matrix4d reusex::geometry::detail::PanoResection::T_pano_frame = Eigen::Matrix4d::Identity()

pano-from-frame: maps a point in the frame's optical coordinates into the panorama's coordinates.

Built from that frame's correspondences ALONE.

Definition at line 197 of file PanoramaLoopEdges.hpp.

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

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