Class Image

deps/glomap/glomap/scene/image.h:27–57

};

struct Image {
  Image() : image_id(-1), file_name("") {}
  Image(image_t img_id, camera_t cam_id, std::string file_name)
      : image_id(img_id), file_name(file_name), camera_id(cam_id) {}

  // Basic information
  // image_id, file_name need to be specified at construction time
  const image_t image_id;
  const std::string file_name;

  // The id of the camera
  camera_t camera_id;

  // whether the image is within the largest connected component
  bool is_registered = false;
  int cluster_id = -1;

  // The pose of the image, defined as the transformation from world to camera.
  Rigid3d cam_from_world;

  // Gravity information
  GravityInfo gravity_info;

  // Distorted feature points in pixels.
  std::vector<Eigen::Vector2d> features;
  // Normalized feature rays, can be obtained by calling UndistortImages.
  std::vector<Eigen::Vector3d> features_undist;

  // Methods
  inline Eigen::Vector3d Center() const;
};

Eigen::Vector3d Image::Center() const {
  return cam_from_world.rotation.inverse() * -cam_from_world.translation;