srba::TNewEdgeInfo Struct Reference

---

Detailed Description

Used in TNewKeyFrameInfo

Definition at line 184 of file srba_types.h.

#include <srba_types.h>

List of all members.

Public Attributes
size_t	id
	The new edge ID.
bool	has_approx_init_val
	Whether the edge was assigned an approximated initial value. If not, it will need an independent optimization step before getting into the complete problem optimization.
TKeyFrameID	loopclosure_observer_kf
TKeyFrameID	loopclosure_base_kf

---

Member Data Documentation

TKeyFrameID srba::TNewEdgeInfo::loopclosure_observer_kf

For loop closures situations, and only for helping estimating an initial value for the new edge (when has_approx_init_val is false), these fields hold the IDs of KFs from which to infer the relative pose using the sensor model. Filled in ECP's eval<>() method, used determine_kf2kf_edges_to_create()

Definition at line 192 of file srba_types.h.

---

The documentation for this struct was generated from the following file:

• srba/srba_types.h