This struct contains the results of the optimization for ease of publication. It is also used for publishing poses that have been propagated with the IMU measurements. More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW okvis::Time	stamp
	Timestamp of the optimized/propagated pose. More...

okvis::kinematics::Transformation	T_WS
	The pose. More...

okvis::SpeedAndBias	speedAndBiases
	The speeds and biases. More...

Eigen::Matrix< double, 3, 1 >	omega_S

std::vector < okvis::kinematics::Transformation, Eigen::aligned_allocator < okvis::kinematics::Transformation > >	vector_of_T_SCi
	The relative transformation of the cameras to the sensor (IMU) frame. More...

okvis::MapPointVector	landmarksVector
	Vector containing the current landmarks. More...

okvis::MapPointVector	transferredLandmarks
	Vector of the landmarks that have been marginalized out. More...

bool	onlyPublishLandmarks
	Boolean to signalise the publisherLoop() that only the landmarks should be published. More...

Detailed Description

This struct contains the results of the optimization for ease of publication. It is also used for publishing poses that have been propagated with the IMU measurements.

Member Data Documentation

okvis::MapPointVector okvis::ThreadedKFVio::OptimizationResults::landmarksVector

Vector containing the current landmarks.

Eigen::Matrix<double, 3, 1> okvis::ThreadedKFVio::OptimizationResults::omega_S

The rotational speed of the sensor.

bool okvis::ThreadedKFVio::OptimizationResults::onlyPublishLandmarks

Boolean to signalise the publisherLoop() that only the landmarks should be published.

okvis::SpeedAndBias okvis::ThreadedKFVio::OptimizationResults::speedAndBiases

The speeds and biases.

EIGEN_MAKE_ALIGNED_OPERATOR_NEW okvis::Time okvis::ThreadedKFVio::OptimizationResults::stamp

Timestamp of the optimized/propagated pose.

okvis::kinematics::Transformation okvis::ThreadedKFVio::OptimizationResults::T_WS

The pose.

okvis::MapPointVector okvis::ThreadedKFVio::OptimizationResults::transferredLandmarks

Vector of the landmarks that have been marginalized out.

std::vector<okvis::kinematics::Transformation, Eigen::aligned_allocator<okvis::kinematics::Transformation> > okvis::ThreadedKFVio::OptimizationResults::vector_of_T_SCi

The relative transformation of the cameras to the sensor (IMU) frame.

The documentation for this struct was generated from the following file:

okvis/okvis_multisensor_processing/include/okvis/ThreadedKFVio.hpp

Public Attributes

Detailed Description

Member Data Documentation