Feature object that our UpdaterHelper leverages, has all measurements and means. More...
#include <UpdaterHelper.h>
Public Attributes | |
| int | anchor_cam_id = -1 |
| What camera ID our pose is anchored in!! By default the first measurement is the anchor. More... | |
| double | anchor_clone_timestamp = -1 |
| Timestamp of anchor clone. More... | |
| ov_type::LandmarkRepresentation::Representation | feat_representation |
| What representation our feature is in. More... | |
| size_t | featid |
| Unique ID of this feature. More... | |
| Eigen::Vector3d | p_FinA |
| Triangulated position of this feature, in the anchor frame. More... | |
| Eigen::Vector3d | p_FinA_fej |
| Triangulated position of this feature, in the anchor frame first estimate. More... | |
| Eigen::Vector3d | p_FinG |
| Triangulated position of this feature, in the global frame. More... | |
| Eigen::Vector3d | p_FinG_fej |
| Triangulated position of this feature, in the global frame first estimate. More... | |
| std::unordered_map< size_t, std::vector< double > > | timestamps |
| Timestamps of each UV measurement (mapped by camera ID) More... | |
| std::unordered_map< size_t, std::vector< Eigen::VectorXf > > | uvs |
| UV coordinates that this feature has been seen from (mapped by camera ID) More... | |
| std::unordered_map< size_t, std::vector< Eigen::VectorXf > > | uvs_norm |
Feature object that our UpdaterHelper leverages, has all measurements and means.
Definition at line 54 of file UpdaterHelper.h.
| int ov_msckf::UpdaterHelper::UpdaterHelperFeature::anchor_cam_id = -1 |
What camera ID our pose is anchored in!! By default the first measurement is the anchor.
Definition at line 72 of file UpdaterHelper.h.
| double ov_msckf::UpdaterHelper::UpdaterHelperFeature::anchor_clone_timestamp = -1 |
Timestamp of anchor clone.
Definition at line 75 of file UpdaterHelper.h.
| ov_type::LandmarkRepresentation::Representation ov_msckf::UpdaterHelper::UpdaterHelperFeature::feat_representation |
What representation our feature is in.
Definition at line 69 of file UpdaterHelper.h.
| size_t ov_msckf::UpdaterHelper::UpdaterHelperFeature::featid |
Unique ID of this feature.
Definition at line 57 of file UpdaterHelper.h.
| Eigen::Vector3d ov_msckf::UpdaterHelper::UpdaterHelperFeature::p_FinA |
Triangulated position of this feature, in the anchor frame.
Definition at line 78 of file UpdaterHelper.h.
| Eigen::Vector3d ov_msckf::UpdaterHelper::UpdaterHelperFeature::p_FinA_fej |
Triangulated position of this feature, in the anchor frame first estimate.
Definition at line 81 of file UpdaterHelper.h.
| Eigen::Vector3d ov_msckf::UpdaterHelper::UpdaterHelperFeature::p_FinG |
Triangulated position of this feature, in the global frame.
Definition at line 84 of file UpdaterHelper.h.
| Eigen::Vector3d ov_msckf::UpdaterHelper::UpdaterHelperFeature::p_FinG_fej |
Triangulated position of this feature, in the global frame first estimate.
Definition at line 87 of file UpdaterHelper.h.
| std::unordered_map<size_t, std::vector<double> > ov_msckf::UpdaterHelper::UpdaterHelperFeature::timestamps |
Timestamps of each UV measurement (mapped by camera ID)
Definition at line 66 of file UpdaterHelper.h.
| std::unordered_map<size_t, std::vector<Eigen::VectorXf> > ov_msckf::UpdaterHelper::UpdaterHelperFeature::uvs |
UV coordinates that this feature has been seen from (mapped by camera ID)
Definition at line 60 of file UpdaterHelper.h.
| std::unordered_map<size_t, std::vector<Eigen::VectorXf> > ov_msckf::UpdaterHelper::UpdaterHelperFeature::uvs_norm |
Definition at line 63 of file UpdaterHelper.h.