Struct Edge

• Defined in File room_frame_solver.hpp

Struct Documentation

struct Edge

One ChArUco-board shot seen simultaneously by two cameras (camA, camB).

boardToCamA[k]/boardToCamB[k] are the board→camera pose pair from the same shot k (as produced by cv::solvePnP), so the two vectors must be the same length and index-aligned.

Public Members

int camA = -1

First camera’s index.

int camB = -1

Second camera’s index.

std::vector<Mat4> boardToCamA

board→camA pose per shared shot.

std::vector<Mat4> boardToCamB

board→camB pose per shared shot, index-aligned with boardToCamA.