Struct ObserverPose¶
Defined in File pmvs-common.h
Struct Documentation¶
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struct dense_reconstruction::ObserverPose¶
Public Functions
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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)¶
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bool needsUndistortion() const¶
Public Members
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size_t camera_number¶
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vi_map::MissionId mission_id¶
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pose_graph::VertexId vertex_id¶
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int64_t timestamp_ns¶
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bool is_optional_camera_image¶
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backend::ResourceType image_type¶
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unsigned int frame_idx¶
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aslam::Transformation T_G_C¶
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Eigen::Vector3d p_G¶
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Eigen::Matrix<double, 3, 4> P_undistorted¶
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struct Hash¶
Public Functions
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inline size_t operator()(const ObserverPose &observer_pose) const¶
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inline size_t operator()(const ObserverPose &observer_pose) const¶
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struct Pred¶
Public Functions
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inline bool operator()(const ObserverPose &observer_pose_A, const ObserverPose &observer_pose_B) const¶
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inline bool operator()(const ObserverPose &observer_pose_A, const ObserverPose &observer_pose_B) const¶
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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)¶