Struct Localization::PoseEstimation

Nested Relationships

This struct is a nested type of Struct Config::Localization.

Nested Types

Struct Documentation

struct PoseEstimation

Camera-pose estimation settings.

Public Members

int _minimumMatches

Minimum 2D-3D matches required.

int _focalLengthMaximumEstimates

Iterations for focal estimation.

double _minimumInlierRatio

Minimum accepted inlier ratio.

int _minimumInliers

Minimum accepted inlier count.

double _poseLimitsRotation

Maximum rotation delta.

double _poseLimitsTranslation

Maximum translation delta.

struct slam_mer::settings::Config::Localization::PoseEstimation::Ransac _ransac
struct slam_mer::settings::Config::Localization::PoseEstimation::Bundle _bundle
struct Bundle

Local bundle-adjustment settings.

Public Members

int _maxIterations

Maximum optimization iterations.

struct Ransac

RANSAC settings for PnP.

Public Members

int _maxIterations

Maximum RANSAC iterations.

int _minIterations

Minimum RANSAC iterations.

double _dynNumTrialsMult

Multiplier for dynamic trial count.

double _successProb

Target RANSAC success probability.