Struct KFConstraintStruct¶

Defined in File KeyFrameGraph.h

Struct Documentation¶

struct KFConstraintStruct¶

Public Functions

KFConstraintStruct()¶

~KFConstraintStruct()¶

Public Members

KeyFrame::SharedPtr firstFrame¶

KeyFrame::SharedPtr secondFrame¶

Sophus::Sim3d secondToFirst¶

Eigen::Matrix<double, 7, 7> information¶

g2o::RobustKernel *robustKernel¶

EdgeSim3 *edge¶

float usage¶

float meanResidualD¶

float meanResidualP¶

float meanResidual¶

float reciprocalConsistency¶

int idxInAllEdges¶