OKVIS ROS
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Pages
Public Attributes | List of all members
okvis::ThreadedKFVio::OptimizationResults Struct Reference

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: