Struct AbsolutePointConstraint

Inheritance Relationships

Base Type

Struct Documentation

struct AbsolutePointConstraint : public ouster::sdk::mapping::Constraint

Absolute point constraint.

Constrains a single 3D point from a lidar frame, identified by its 2D image coordinates (row, col) and return index at a given timestamp, to match a user-defined absolute 3D position in the world frame.

Public Functions

inline AbsolutePointConstraint(uint64_t timestamp, uint32_t row, uint32_t col, uint32_t return_idx, const Eigen::Vector3d &absolute_position, const Eigen::Array3d &translation_weights = Eigen::Array3d::Ones())

Construct an absolute point constraint.

Parameters:

  • timestamp[in] Timestamp of the point’s pose (nanoseconds).

  • row[in] Row index of the 2D image point (staggered).

  • col[in] Column index of the 2D image point (staggered).

  • return_idx[in] Return index of the point (1 or 2).

  • absolute_position[in] Target global 3D position (x, y, z).

  • translation_weights[in] Optional translation weights.

inline AbsolutePointConstraint()

Default constructor.

inline virtual ConstraintType get_type() const override

Get the constraint type.

Returns:

ConstraintType The constraint category.

inline virtual std::unique_ptr<Constraint> clone() const override

Clone this AbsolutePointConstraint, preserving its constraint id.

Returns:

std::unique_ptr<Constraint> Deep copy of this constraint.

Public Members

uint64_t timestamp

Timestamp of the point’s pose (nanoseconds).

uint32_t row

Row index of the point in the 2D image (staggered).

uint32_t col

Column index of the point in the 2D image (staggered).

uint32_t return_idx

Return index of the point (1 or 2).

Eigen::Vector3d absolute_position

Absolute position (x, y, z) in world coordinates to match.