Struct ObserverPose

Nested Relationships

Struct Documentation

struct dense_reconstruction::ObserverPose

Public Functions

ObserverPose(const vi_map::VIMap &vi_map, const size_t _camera_number, const vi_map::MissionId &_mission_id, const pose_graph::VertexId &_vertex_id, const int64_t _timestamp_ns, const ObserverCamera &observer_camera, const backend::ResourceType &_image_type)
void loadImage(const vi_map::VIMap &vi_map, cv::Mat *image) const
bool needsUndistortion() const
bool needsInterpolation(const vi_map::VIMap &vi_map) const

Public Members

size_t camera_number
vi_map::MissionId mission_id
pose_graph::VertexId vertex_id
int64_t timestamp_ns
aslam::CameraId camera_id
bool is_optional_camera_image
backend::ResourceType image_type
unsigned int frame_idx
aslam::Transformation T_G_C
Eigen::Vector3d p_G
Eigen::Matrix<double, 3, 4> P_undistorted
struct Hash

Public Functions

inline size_t operator()(const ObserverPose &observer_pose) const
struct Pred

Public Functions

inline bool operator()(const ObserverPose &observer_pose_A, const ObserverPose &observer_pose_B) const