OrbTrackingInfo.h

#pragma once
#include <opencv2/core/core.hpp>
#include <NDEVR/InfoPipe.h>
#include <NDEVR/TranslatedString.h>
#include <NDEVR/Buffer.h>
#include <NDEVR/IMU.h>
#include <NDEVR/Ray.h>
namespace NDEVR
{
    struct OrbTrackingInfo
    {
        Sophus::SE3f pose;                                          
        cv::Mat color_frame;                                        
        cv::Mat depth_frame;                                        
        cv::Mat left_frame;                                         
        cv::Mat right_frame;                                        
        cv::Mat ir_frame;                                           
        Ray<3, fltp04> velocity = Constant< Ray<3, fltp04>>::Invalid;   
        Buffer<IMU::Point> imu_data;                                
        fltp08 frame_time;                                          
        TranslatedString action;                                    
        TranslatedString message;                                   
        LogPtr log = nullptr;                                       
        fltp04 imu_calibration_percent = 0.0f;                      
        fltp04 quality = Constant<fltp04>::Invalid;                 
        fltp04 inlier_quality = Constant<fltp04>::Invalid;          
        uint04 tracking_points = Constant<uint04>::Invalid;         
        uint04 filtered_points = Constant<uint04>::Invalid;         
        uint04 inlier_points = Constant<uint04>::Invalid;           
    };
}