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SRBA: Sparser Relative Bundle Adjustment
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| current_kf (defined in basic_graph_slam_dataset_entry_t) | basic_graph_slam_dataset_entry_t | |
| observed_kf (defined in basic_graph_slam_dataset_entry_t) | basic_graph_slam_dataset_entry_t | |
| pitch (defined in basic_graph_slam_dataset_entry_t) | basic_graph_slam_dataset_entry_t | |
| qr (defined in basic_graph_slam_dataset_entry_t) | basic_graph_slam_dataset_entry_t | |
| qx (defined in basic_graph_slam_dataset_entry_t) | basic_graph_slam_dataset_entry_t | |
| qy (defined in basic_graph_slam_dataset_entry_t) | basic_graph_slam_dataset_entry_t | |
| qz (defined in basic_graph_slam_dataset_entry_t) | basic_graph_slam_dataset_entry_t | |
| roll (defined in basic_graph_slam_dataset_entry_t) | basic_graph_slam_dataset_entry_t | |
| x (defined in basic_graph_slam_dataset_entry_t) | basic_graph_slam_dataset_entry_t | |
| y (defined in basic_graph_slam_dataset_entry_t) | basic_graph_slam_dataset_entry_t | |
| yaw (defined in basic_graph_slam_dataset_entry_t) | basic_graph_slam_dataset_entry_t | |
| z (defined in basic_graph_slam_dataset_entry_t) | basic_graph_slam_dataset_entry_t |
1.7.6.1