22 #ifndef OV_CORE_SENSOR_DATA_H 23 #define OV_CORE_SENSOR_DATA_H 25 #include <Eigen/Eigen> 26 #include <opencv2/opencv.hpp> 40 Eigen::Matrix<double, 3, 1>
wm;
43 Eigen::Matrix<double, 3, 1>
am;
72 int id = *std::min_element(sensor_ids.begin(), sensor_ids.end());
83 #endif // OV_CORE_SENSOR_DATA_H std::vector< cv::Mat > images
Raw image we have collected for each camera.
Eigen::Matrix< double, 3, 1 > am
Accelerometer reading, linear acceleration (m/s^2)
Struct for a collection of camera measurements.
bool operator<(const CameraData &other) const
Sort function to allow for using of STL containers.
std::vector< int > sensor_ids
Camera ids for each of the images collected.
double timestamp
Timestamp of the reading.
std::vector< cv::Mat > masks
Tracking masks for each camera we have.
double timestamp
Timestamp of the reading.
Core algorithms for OpenVINS.
bool operator<(const ImuData &other) const
Sort function to allow for using of STL containers.
Eigen::Matrix< double, 3, 1 > wm
Gyroscope reading, angular velocity (rad/s)
Struct for a single imu measurement (time, wm, am)