Struct ObserverCamera

Struct Documentation

struct dense_reconstruction::ObserverCamera

Public Functions

ObserverCamera(const vi_map::VIMap &vi_map, const PmvsConfig &config, const vi_map::MissionId &_mission_id, const aslam::CameraId &_camera_id, const unsigned int _frame_idx, const bool _is_optional_camera)
ObserverCamera(const vi_map::VIMap &vi_map, const PmvsConfig &config, const vi_map::MissionId &_mission_id, const aslam::CameraId &_camera_id)
void undistortImage(const cv::Mat &image, cv::Mat *undistorted_image) const

Public Members

const vi_map::MissionId mission_id
const aslam::CameraId camera_id
unsigned int frame_idx
const bool is_optional_camera
Eigen::Matrix3d camera_matrix_undistorted
aslam::Transformation T_B_C
std::unique_ptr<aslam::MappedUndistorter> undistorter