Struct Map::Covisibility

Nested Relationships

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

Nested Types

Struct Documentation

struct Covisibility

Covisibility-graph and optimization settings.

Public Members

bool _useSimilarity

Enables similarity-based optimization (Sim(3)).

int _moduleFps

Target processing FPS for the module.

double _relinearizeThreshold

Threshold for factor relinearization.

int _relinearizeSkip

Frames to skip between checks.

double _rigidWindowClampWeight

Clamp weight for rigid-window edges.

utils::DescriptorModel::Type _descriptorModel

Descriptor fusion mode.

struct slam_mer::settings::Config::Map::Covisibility::ProjectionEdge _projectionEdge
struct slam_mer::settings::Config::Map::Covisibility::DistanceEdge _distanceEdge
struct slam_mer::settings::Config::Map::Covisibility::OdometryEdge _odometryEdge
struct slam_mer::settings::Config::Map::Covisibility::LoopEdge _loopEdge
struct DistanceEdge

3D distance-edge settings.

Public Members

double _sigma

Measurement sigma.

bool _robust

Enables robust loss.

modes::RobustLossType _loss

Robust loss function.

double _shape

Robust loss shape parameter.

struct LoopEdge

Loop-closure edge settings.

Public Members

double _weight

Relative weight for loop edges.

struct OdometryEdge

Relative odometry-edge settings.

Public Members

int _minimumMatches

Minimum matches for odometry factors.

double _sigmaRotation

Rotation sigma.

double _sigmaTranslation

Translation sigma.

double _sigmaScale

Scale sigma.

bool _robust

Enables robust loss.

modes::RobustLossType _loss

Robust loss function.

double _shape

Robust loss shape parameter.

struct ProjectionEdge

2D projection-edge settings.

Public Members

double _sigma

Measurement sigma.

bool _robust

Enables robust loss.

modes::RobustLossType _loss

Robust loss function.

double _shape

Robust loss shape parameter.