Struct SynchronizedNFrameImu¶
Defined in File vio-types.h
Struct Documentation¶
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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
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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).
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Eigen::Matrix<double, 6, Eigen::Dynamic> imu_measurements¶
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aslam::VisualNFrame::Ptr nframe¶
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MotionType motion_wrt_last_nframe¶
Additional information obtained during feature tracking.