Struct ObserverPose¶

Defined in File pmvs-common.h

Nested Relationships¶

Nested Types¶

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¶