For convenience to pass associations - also contains the 3d points. More...

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Observation (size_t keypointIdx, const Eigen::Vector2d &keypointMeasurement, double keypointSize, size_t cameraIdx, uint64_t frameId, const Eigen::Vector4d &landmark_W, uint64_t landmarkId, bool isInitialized)
	Constructor. More...

	Observation ()

Public Attributes
size_t	keypointIdx
	Keypoint ID. More...

size_t	cameraIdx
	index of the camera this point is observed in More...

uint64_t	frameId
	unique pose block ID == multiframe ID More...

Eigen::Vector2d	keypointMeasurement
	2D image keypoint [pixels] More...

double	keypointSize
	Keypoint size. Basically standard deviation of the image coordinates in pixels. More...

Eigen::Vector4d	landmark_W
	landmark as homogeneous point in body frame B More...

uint64_t	landmarkId
	unique landmark ID More...

bool	isInitialized
	Initialisation status of landmark. More...

Detailed Description

For convenience to pass associations - also contains the 3d points.

Constructor & Destructor Documentation

EIGEN_MAKE_ALIGNED_OPERATOR_NEW okvis::Observation::Observation	(	size_t	keypointIdx,
		const Eigen::Vector2d &	keypointMeasurement,
		double	keypointSize,
		size_t	cameraIdx,
		uint64_t	frameId,
		const Eigen::Vector4d &	landmark_W,
		uint64_t	landmarkId,
		bool	isInitialized
	)

inline

Constructor.

Parameters

keypointIdx	Keypoint ID.
keypointMeasurement	Image coordinates of keypoint. [pixels]
keypointSize	Keypoint size. Basically standard deviation of the image coordinates in pixels.
cameraIdx	Camera index of observed keypoint.
frameId	Frame ID of observed keypoint.
landmark_W	Associated landmark coordinates in world frame.
landmarkId	Unique landmark ID
isInitialized	Is the landmark initialized?

okvis::Observation::Observation ( )

inline

size_t okvis::Observation::cameraIdx

index of the camera this point is observed in

uint64_t okvis::Observation::frameId

unique pose block ID == multiframe ID

bool okvis::Observation::isInitialized

Initialisation status of landmark.

size_t okvis::Observation::keypointIdx

Keypoint ID.

Eigen::Vector2d okvis::Observation::keypointMeasurement

2D image keypoint [pixels]

double okvis::Observation::keypointSize

Keypoint size. Basically standard deviation of the image coordinates in pixels.

Eigen::Vector4d okvis::Observation::landmark_W

landmark as homogeneous point in body frame B

uint64_t okvis::Observation::landmarkId

unique landmark ID

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