struct mola::FrameIMU

Overview

#include <simplemap_georeference.h>

struct FrameIMU
{
    // fields

    size_t kf_index = 0;
    mrpt::poses::CPose3D vehiclePose;
    mrpt::poses::CPose3D sensorPoseOnVehicle;
    std::optional<gtsam::Vector3> normalizedAcc;
    std::optional<gtsam::Rot3> rawAttitude;
};

Fields

size_t kf_index = 0

Index in the source CSimpleMap.

std::optional<gtsam::Vector3> normalizedAcc

Set if this keyframe has a valid gravity (accelerometer) observation.

std::optional<gtsam::Rot3> rawAttitude

Set if this keyframe has a valid absolute-orientation observation. Stored raw (not yet corrected for the ENU/azimuth convention), since that correction depends on AddIMUAttitudeFactorParams::azimuthOffsetDeg, only known when factors are built, not at extraction time.