Struct Covisibility::OdometryEdge

• Defined in File config.hpp

Nested Relationships

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

Struct Documentation

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.