reusex::core::FrameVisibility Struct Reference

One frame in which a queried world point is visible, with the geometry of its projection. More...

#include <frame_visibility.hpp>

Public Attributes
int	frame_id = 0
	node_id of the sensor frame.
double	u = 0.0
	Projected pixel column (0 = left edge).
double	v = 0.0
	Projected pixel row (0 = top edge).
double	depth
	Point's depth in the camera optical frame, metres (> 0).
double	centrality = 0.0
	Normalised distance of the projection from the principal point: 0 at the principal point (most central), ~1 at an image corner.

Detailed Description

One frame in which a queried world point is visible, with the geometry of its projection.

Produced by visible_frames().

Definition at line 21 of file frame_visibility.hpp.

Member Data Documentation

centrality

double reusex::core::FrameVisibility::centrality = 0.0

Normalised distance of the projection from the principal point: 0 at the principal point (most central), ~1 at an image corner.

Smaller is more central, hence a better source image. This is the sort key: results come back ascending in centrality.

Definition at line 31 of file frame_visibility.hpp.

depth

double reusex::core::FrameVisibility::depth

Initial value:

         =
0.0

Point's depth in the camera optical frame, metres (> 0).

Definition at line 25 of file frame_visibility.hpp.

frame_id

int reusex::core::FrameVisibility::frame_id = 0

node_id of the sensor frame.

Definition at line 22 of file frame_visibility.hpp.

u

double reusex::core::FrameVisibility::u = 0.0

Projected pixel column (0 = left edge).

Definition at line 23 of file frame_visibility.hpp.

v

double reusex::core::FrameVisibility::v = 0.0

Projected pixel row (0 = top edge).

Definition at line 24 of file frame_visibility.hpp.

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

• libs/reusex/include/core/frame_visibility.hpp