cuvslam::PoseEstimate Struct Reference

Rig pose estimate from the tracker. More...

Public Attributes
int64_t	timestamp_ns
	Pose timestamp (in nanoseconds) will match image timestamp.
std::optional< PoseWithCovariance >	world_from_rig
	Transform from rig coordinate frame to world coordinate frame.

Detailed Description

Rig pose estimate from the tracker.

The rig coordinate frame is user-defined and depends on the extrinsic parameters of the cameras. The cameras' coordinate frames may not match the rig coordinate frame - depending on camers extrinsics. The world coordinate frame is an arbitrary 3D coordinate frame. It coincides with the rig coordinate frame at the first frame.

Member Data Documentation

timestamp_ns

int64_t cuvslam::PoseEstimate::timestamp_ns

Pose timestamp (in nanoseconds) will match image timestamp.

world_from_rig

std::optional<PoseWithCovariance> cuvslam::PoseEstimate::world_from_rig

Transform from rig coordinate frame to world coordinate frame.