Struct PointToPointConstraint

Inheritance Relationships

Base Type

Struct Documentation

struct PointToPointConstraint : public ouster::sdk::mapping::Constraint

Point-to-point constraint - enforces correspondence between points.

Public Functions

inline PointToPointConstraint(uint64_t timestamp1, uint32_t row1, uint32_t col1, uint32_t return_idx1, uint64_t timestamp2, uint32_t row2, uint32_t col2, uint32_t return_idx2, const Eigen::Array3d &translation_weights = Eigen::Array3d::Ones())

Construct a point-to-point correspondence constraint.

Parameters:

  • timestamp1[in] Timestamp of the first point’s pose (nanoseconds).

  • row1[in] Row index of the first point (staggered image).

  • col1[in] Column index of the first point (staggered image).

  • return_idx1[in] Return index of the first point.

  • timestamp2[in] Timestamp of the second point’s pose (nanoseconds).

  • row2[in] Row index of the second point (staggered image).

  • col2[in] Column index of the second point (staggered image).

  • return_idx2[in] Return index of the second point.

  • translation_weights[in] Optional translation weights.

inline PointToPointConstraint()

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 PointToPointConstraint, preserving its constraint id.

Returns:

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

Public Members

uint64_t timestamp1

Timestamp of the first point’s pose (nanoseconds).

uint64_t timestamp2

Timestamp of the second point’s pose (nanoseconds).

uint32_t row1

Row index of the first point (staggered image).

uint32_t col1

Column index of the first point (staggered image).

uint32_t return_idx1

Return index of the first point (1 or 2).

uint32_t row2

Row index of the second point (staggered image).

uint32_t col2

Column index of the second point (staggered image).

uint32_t return_idx2

Return index of the second point (1 or 2).