Struct ObserverPose

• Defined in File pmvs-common.h

Nested Relationships

Nested Types

• Struct ObserverPose::Hash

• Struct ObserverPose::Pred

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