mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TNewKeyFrameInfo Struct Reference

Detailed Description

template<class KF2KF_POSE_TYPE, class LM_TYPE, class OBS_TYPE, class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>
struct mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TNewKeyFrameInfo

Information returned by RbaEngine::define_new_keyframe()

Definition at line 160 of file RbaEngine.h.

#include <mrpt/srba/RbaEngine.h>

Public Member Functions
void	clear ()

Public Attributes
TKeyFrameID	kf_id
	The ID of the newly created KF. More...
std::vector< TNewEdgeInfo >	created_edge_ids
	The newly created edges (minimum: 1 edge) More...
TOptimizeExtraOutputInfo	optimize_results
	Results from the least-squares optimization. More...
TOptimizeExtraOutputInfo	optimize_results_stg1
	Results from the least-squares optimization. More...

Member Function Documentation

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

void mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TNewKeyFrameInfo::clear ( void  )

inline

Definition at line 167 of file RbaEngine.h.

References mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TOptimizeExtraOutputInfo::clear().

Referenced by mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::define_new_keyframe().

Member Data Documentation

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

std::vector<TNewEdgeInfo> mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TNewKeyFrameInfo::created_edge_ids

The newly created edges (minimum: 1 edge)

Definition at line 163 of file RbaEngine.h.

Referenced by mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::define_new_keyframe().

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

TKeyFrameID mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TNewKeyFrameInfo::kf_id

The ID of the newly created KF.

Definition at line 162 of file RbaEngine.h.

Referenced by mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::define_new_keyframe().

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

TOptimizeExtraOutputInfo mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TNewKeyFrameInfo::optimize_results

Results from the least-squares optimization.

Definition at line 164 of file RbaEngine.h.

Referenced by mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::define_new_keyframe().

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

TOptimizeExtraOutputInfo mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TNewKeyFrameInfo::optimize_results_stg1

Results from the least-squares optimization.

Definition at line 165 of file RbaEngine.h.

Referenced by mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::define_new_keyframe().