Struct CObservation6DFeatures::TMeasurement

Nested Relationships

This struct is a nested type of Class CObservation6DFeatures.

Struct Documentation

struct TMeasurement

Each one of the measurements

Public Functions

TMeasurement()

Ctor with default values

Public Members

mrpt::poses::CPose3D pose

The observed feature SE(3) pose with respect to the sensor

int32_t id

The feature ID, or INVALID_LANDMARK_ID if unidentified (default)

mrpt::math::CMatrixDouble66 inf_matrix

The inverse of the observation covariance matrix (default:all zeros)