Struct Feature

Struct Documentation

struct Feature

A 2D feature detected and tracked in a Keyframe

Public Members

int id = -1

Unique feature id (across frames).

int prev_id = -1

Feature id in previous frame (-1 if new).

mrpt::math::TPoint2Df pixel

Distorted pixel coordinates.

mrpt::math::TPoint2Df pixel_undist

Undistorted pixel coordinates.

mrpt::math::TPoint2Df norm_coord

Normalized (z=1) undistorted coords.

int track_count = 1

How many frames this has been tracked.

bool is_outlier = false

Marked bad by F-matrix or reprojection filter.

float depth = -1.f

Metric depth (m); <0 if unknown.

float reprojection_error = -1.f
std::optional<mrpt::math::TPoint2Df> right_pixel

Right-image pixel (stereo only).

std::optional<float> disparity
MapPoint::Ptr map_point

Associated 3D landmark (null if not yet triangulated).