Struct SynchronizedNFrameImu

• Defined in File vio-types.h

Struct Documentation

struct vio::SynchronizedNFrameImu

A data structure containing a VisualNFrame and synchronized IMU measurements since this and the last processed nframe’s timestamp.

For integration the first imu measurement is a copy of the last imu measurement of the last SynchronizedNFrameImu message.

Public Members

SynchronizedNFrameImu

Eigen::Matrix<int64_t, 1, Eigen::Dynamic> imu_timestamps

IMU measurements since the last nframe (including the last IMU measurement of the of the previous edge for integration).

Eigen::Matrix<double, 6, Eigen::Dynamic> imu_measurements

aslam::VisualNFrame::Ptr nframe

MotionType motion_wrt_last_nframe

Additional information obtained during feature tracking.