rso::CStereoOdometryEstimator::TImagePairData Struct Reference

Classes
struct	img_data_t
struct	img_pairing_data_t

Public Member Functions
	TImagePairData ()

Public Attributes
mrpt::system::TTimeStamp	timestamp
img_data_t	left
img_data_t	right
std::vector< img_pairing_data_t >	lr_pairing_data
std::vector< cv::DMatch >	orb_matches
std::vector< size_t >	orb_matches_ID
size_t	img_h
size_t	img_w

Constructor & Destructor Documentation

rso::CStereoOdometryEstimator::TImagePairData::TImagePairData ( )

inline

Member Data Documentation

size_t rso::CStereoOdometryEstimator::TImagePairData::img_h

Image size. Useful when calling to 'getChangeInPose' which likely won't be able to access image size, since it is just a custom call to the optimization process

size_t rso::CStereoOdometryEstimator::TImagePairData::img_w

img_data_t rso::CStereoOdometryEstimator::TImagePairData::left

std::vector<img_pairing_data_t> rso::CStereoOdometryEstimator::TImagePairData::lr_pairing_data

For each octave, all the information about L/R pairings

std::vector<cv::DMatch> rso::CStereoOdometryEstimator::TImagePairData::orb_matches

The ORB matches

std::vector<size_t> rso::CStereoOdometryEstimator::TImagePairData::orb_matches_ID

The idx of the ORB matches

img_data_t rso::CStereoOdometryEstimator::TImagePairData::right

mrpt::system::TTimeStamp rso::CStereoOdometryEstimator::TImagePairData::timestamp

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

• libstereo-odometry.h