OKVIS ROS
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Pages
Public Member Functions | Public Attributes | List of all members
okvis::Observation Struct Reference

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

#include <FrameTypedefs.hpp>

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
keypointIdxKeypoint ID.
keypointMeasurementImage coordinates of keypoint. [pixels]
keypointSizeKeypoint size. Basically standard deviation of the image coordinates in pixels.
cameraIdxCamera index of observed keypoint.
frameIdFrame ID of observed keypoint.
landmark_WAssociated landmark coordinates in world frame.
landmarkIdUnique landmark ID
isInitializedIs the landmark initialized?
okvis::Observation::Observation ( )
inline

Member Data Documentation

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: