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okvis::MapPoint Struct Reference

A type to store information about a point in the world map. More...

#include <FrameTypedefs.hpp>

Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW MapPoint ()
 Default constructor. Point is at origin with quality 0.0 and ID 0. More...
 
 MapPoint (uint64_t id, const Eigen::Vector4d &point, double quality, double distance)
 Constructor. More...
 

Public Attributes

uint64_t id
 ID of the point. E.g. landmark ID. More...
 
Eigen::Vector4d point
 Homogeneous coordinate of the point. More...
 
double quality
 Quality of the point. Usually between 0 and 1. More...
 
double distance
 Distance to origin of the frame the coordinates are given in. More...
 
std::map
< okvis::KeypointIdentifier,
uint64_t > 
observations
 Observations of this point. More...
 

Detailed Description

A type to store information about a point in the world map.

Constructor & Destructor Documentation

EIGEN_MAKE_ALIGNED_OPERATOR_NEW okvis::MapPoint::MapPoint ( )
inline

Default constructor. Point is at origin with quality 0.0 and ID 0.

okvis::MapPoint::MapPoint ( uint64_t  id,
const Eigen::Vector4d &  point,
double  quality,
double  distance 
)
inline

Constructor.

Parameters
idID of the point. E.g. landmark ID.
pointHomogeneous coordinate of the point.
qualityQuality of the point. Usually between 0 and 1.
distanceDistance to origin of the frame the coordinates are given in.

Member Data Documentation

double okvis::MapPoint::distance

Distance to origin of the frame the coordinates are given in.

uint64_t okvis::MapPoint::id

ID of the point. E.g. landmark ID.

std::map<okvis::KeypointIdentifier, uint64_t> okvis::MapPoint::observations

Observations of this point.

Eigen::Vector4d okvis::MapPoint::point

Homogeneous coordinate of the point.

double okvis::MapPoint::quality

Quality of the point. Usually between 0 and 1.


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