#include <frame_pair_icp.hpp>

Collaboration diagram for reusex::slam::FramePairIcpResult:

Public Attributes
std::array< double, 16 >	relative_pose
	Row-major 4x4 relative pose T_to^{-1} * T_icp_delta * T_from, between the two frames' stored POSE frames (the device/base frames the transform blob describes; the camera's local_transform is not part of it): maps a point from "from"'s pose frame into "to"'s pose frame.
std::array< double, 16 >	world_delta
	The ICP correction applied to the "from" cloud in world space (identity when the stored poses already agree), row-major 4x4.
double	source_center_shift_m = 0.0
	How far the correction moves the "from" camera's optical centre (m): \|delta * c - c\|.
double	rotation_deg = 0.0
	Rotation angle of world_delta (degrees).
double	fitness = 0.0
	RMS correspondence error after ICP (m).
double	inlier_fraction = 0.0
	share of "from" points within the gate
bool	converged = false
int	source_points = 0
	back-projected points of the "from" frame
int	target_points = 0
	back-projected points of the "to" frame

Detailed Description

Definition at line 32 of file frame_pair_icp.hpp.

Member Data Documentation

◆ converged

bool reusex::slam::FramePairIcpResult::converged = false

Definition at line 52 of file frame_pair_icp.hpp.

◆ fitness

double reusex::slam::FramePairIcpResult::fitness = 0.0

RMS correspondence error after ICP (m).

Definition at line 50 of file frame_pair_icp.hpp.

◆ inlier_fraction

double reusex::slam::FramePairIcpResult::inlier_fraction = 0.0

share of "from" points within the gate

Definition at line 51 of file frame_pair_icp.hpp.

◆ relative_pose

std::array<double, 16> reusex::slam::FramePairIcpResult::relative_pose

Initial value:

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

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

Row-major 4x4 relative pose T_to^{-1} * T_icp_delta * T_from, between the two frames' stored POSE frames (the device/base frames the transform blob describes; the camera's local_transform is not part of it): maps a point from "from"'s pose frame into "to"'s pose frame.

Definition at line 37 of file frame_pair_icp.hpp.

◆ rotation_deg

double reusex::slam::FramePairIcpResult::rotation_deg = 0.0

Rotation angle of world_delta (degrees).

Definition at line 49 of file frame_pair_icp.hpp.

◆ source_center_shift_m

double reusex::slam::FramePairIcpResult::source_center_shift_m = 0.0

How far the correction moves the "from" camera's optical centre (m): |delta * c - c|.

This is the shift a user means; the translation part of world_delta also folds in the rotation's lever arm about the WORLD origin, so it grows with the distance from the origin.

Definition at line 47 of file frame_pair_icp.hpp.

◆ source_points

int reusex::slam::FramePairIcpResult::source_points = 0

back-projected points of the "from" frame

Definition at line 53 of file frame_pair_icp.hpp.

◆ target_points

int reusex::slam::FramePairIcpResult::target_points = 0

back-projected points of the "to" frame

Definition at line 54 of file frame_pair_icp.hpp.

◆ world_delta

std::array<double, 16> reusex::slam::FramePairIcpResult::world_delta