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.
-