cuvslam::Rig Struct Reference

Rig consisting of cameras and IMU sensors. More...

Public Attributes
std::vector< Camera >	cameras
	Cameras; 1 to 32 cameras are supported now.
std::vector< ImuCalibration >	imus
	IMU sensors; 0 or 1 sensor is supported now.

Detailed Description

Rig consisting of cameras and IMU sensors.

Note

1 to 32 cameras are supported now.

0 or 1 IMU sensor is supported now.

An IMU sensor can be fused in Odometry::OdometryMode::Inertial (stereo + IMU) and in Odometry::OdometryMode::Multisensor (one or more cameras, at least one RGB-D camera or overlapping pair, and an optional single IMU).

Member Data Documentation

cameras

std::vector<Camera> cuvslam::Rig::cameras

Cameras; 1 to 32 cameras are supported now.

imus

std::vector<ImuCalibration> cuvslam::Rig::imus

IMU sensors; 0 or 1 sensor is supported now.