struct mola::TrajectoryRebaker::Result

Overview

Output of a rebake operation.

#include <TrajectoryRebaker.h>

struct Result
{
    // fields

    std::map<KeyFrameID, mrpt::poses::CPose3D> corrected_poses;
    KeyFrameID anchor_id = 0;
};

Fields

std::map<KeyFrameID, mrpt::poses::CPose3D> corrected_poses

Corrected poses for every KF that could be processed (i.e. present in both odom_poses and r_grav, from anchor onward).

KeyFrameID anchor_id = 0

The anchor KF id used (first KF of the processed window).