Struct libCalibGeom::OptimizationResult¶
Result of the bundle adjustment optimization.
Public data members¶
succeeded¶
boolsucceeded
True if optimization ran successfully.
converged¶
boolconverged
True if optimization converged.
rpeRMS¶
doublerpeRMS
Root Mean Square reprojection error in pixels.
testRpeRMS¶
doubletestRpeRMS
Root Mean Square test RPE aggregated over held-out poses (0.0 if not computed).
lidarErrors¶
std::vector< LidarResult >lidarErrors
Errors for each Lidar.
robotErrors¶
std::vector< RobotResult >robotErrors
Errors for each Robot.
statusString¶
std::stringstatusString
Status message.
reprojectionErrors¶
std::vector< ReprojectionErrors >reprojectionErrors
Detailed reprojection errors.
testReprojectionErrors¶
std::vector< ReprojectionErrors >testReprojectionErrors
Detailed test reprojection errors.