Program Listing for File odometry-estimate.h¶
↰ Return to documentation for file (applications/maplab-node/include/maplab-node/odometry-estimate.h
)
#ifndef MAPLAB_NODE_ODOMETRY_ESTIMATE_H_
#define MAPLAB_NODE_ODOMETRY_ESTIMATE_H_
#include <Eigen/Core>
#include <aslam/common/memory.h>
#include <aslam/common/pose-types.h>
#include <maplab-common/macros.h>
#include <vio-common/vio-types.h>
namespace maplab {
struct OdometryEstimate {
MAPLAB_POINTER_TYPEDEFS(OdometryEstimate);
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
int64_t timestamp_ns;
vio::ViNodeState vinode;
// Mapping maplab camera index to the estimated camera extrinsics.
AlignedUnorderedMap<size_t, aslam::Transformation>
maplab_camera_index_to_T_C_B;
};
} // namespace maplab
#endif // MAPLAB_NODE_ODOMETRY_ESTIMATE_H_