xrt::tracking::constellation::optimizer::ImuCostFunctor Struct Reference

IMU preintegration factor, between each camera keyframe. More...

#include </builds/monado/monado/src/xrt/tracking/constellation/optimizer/imu_preintegration.hpp>

Collaboration diagram for xrt::tracking::constellation::optimizer::ImuCostFunctor:

Public Member Functions
template<typename T >
bool	operator() (const T *const world_gravity_parameters, const T *const imu_bias_parameters, const T *const start_keyframe_parameters, const T *const end_keyframe_parameters, T *residuals) const

Data Fields
PreintegratedImuSamples	preintegration

Detailed Description

IMU preintegration factor, between each camera keyframe.

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

• tracking/constellation/optimizer/imu_preintegration.hpp