Struct Keyframe

Defined in File Keyframe.h

Struct Documentation

struct Keyframe

Keyframe: one processed image (or stereo pair) with associated pose, detected features, and optional IMU data.

The frame type (MONO / STEREO / RGBD) determines which image fields are valid.

Public Types

enum class Type

Values:

enumerator MONO

enumerator STEREO

enumerator RGBD

using Ptr = std::shared_ptr<Keyframe>

Public Members

Type type = Type::MONO 

int id = -1

mrpt::Clock::time_point timestamp = {}

mrpt::img::CImage image: Left/gray image (grayscale, CH_GRAY).

mrpt::img::CImage image_right: Right image (STEREO only).

mrpt::img::CImage depth_image: Depth map in float meters (RGBD only).

mrpt::img::TCamera camera: Camera intrinsics + distortion.

double baseline = 0.0: Stereo baseline (m); 0 for MONO/RGBD.

mrpt::poses::CPose3D pose_world_camera: Estimated camera pose in world frame.

bool pose_valid = false

Eigen::Vector3f velocity = Eigen::Vector3f::Zero()

Eigen::Vector3f gyro_bias = Eigen::Vector3f::Zero()

Eigen::Vector3f accel_bias = Eigen::Vector3f::Zero()

std::vector<Feature> features

std::vector<ImuMeasurement> imu_measurements

std::weak_ptr<Keyframe> ref_keyframe

mrpt::poses::CPose3D pose_relative_to_ref: pose = ref_pose ⊕ pose_relative_to_ref

bool is_keyframe = false: true only for selected keyframes (not every frame)