sensor_data.h

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/*
 * OpenVINS: An Open Platform for Visual-Inertial Research
 * Copyright (C) 2018-2023 Patrick Geneva
 * Copyright (C) 2018-2023 Guoquan Huang
 * Copyright (C) 2018-2023 OpenVINS Contributors
 * Copyright (C) 2018-2019 Kevin Eckenhoff
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */

#ifndef OV_CORE_SENSOR_DATA_H
#define OV_CORE_SENSOR_DATA_H

#include <Eigen/Eigen>
#include <opencv2/opencv.hpp>
#include <vector>

namespace ov_core {

struct ImuData {

  double timestamp;

  Eigen::Matrix<double, 3, 1> wm;

  Eigen::Matrix<double, 3, 1> am;

  bool operator<(const ImuData &other) const { return timestamp < other.timestamp; }
};

struct CameraData {

  double timestamp;

  std::vector<int> sensor_ids;

  std::vector<cv::Mat> images;

  std::vector<cv::Mat> masks;

  bool operator<(const CameraData &other) const {
    if (timestamp == other.timestamp) {
      int id = *std::min_element(sensor_ids.begin(), sensor_ids.end());
      int id_other = *std::min_element(other.sensor_ids.begin(), other.sensor_ids.end());
      return id < id_other;
    } else {
      return timestamp < other.timestamp;
    }
  }
};

} // namespace ov_core

#endif // OV_CORE_SENSOR_DATA_H