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

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.

inline

Constructor.

Parameters

id	ID of the point. E.g. landmark ID.
point	Homogeneous coordinate of the point.
quality	Quality of the point. Usually between 0 and 1.
distance	Distance to origin of the frame the coordinates are given in.

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: