vslam_evaluation::FeatureInitsReader::FeatureInit Struct Reference

#include <FeatureInitsReader.h>

List of all members.


Detailed Description

A feature_init event.

Public Member Functions

 FeatureInit (double t, int id, double u, double v, bool has_disparity, double d, bool has_normal, double normal_x, double normal_y, double normal_z)
 Create a feature_init event.

Public Attributes

double timestamp_
 identifies the camera frame, in which this feature is initialised
int feature_id_
 feature id.
double image_position_u_
 initial image measurement of the feature.
double image_position_v_
 initial image measurement of the feature.
bool has_disparity_
 whether the initial measurement has a disparity value (for stereo cameras)
double image_position_d_
 initial disparity measurement.
bool has_normal_
 whether the initial measurement contains a normal vector for the feature
double relative_normal_x_
 normal vector relative to the camera pose of this first observation.
double relative_normal_y_
 normal vector relative to the camera pose of this first observation.
double relative_normal_z_
 normal vector relative to the camera pose of this first observation.

Constructor & Destructor Documentation

vslam_evaluation::FeatureInitsReader::FeatureInit::FeatureInit ( double  t,
int  id,
double  u,
double  v,
bool  has_disparity,
double  d,
bool  has_normal,
double  normal_x,
double  normal_y,
double  normal_z 
) [inline]

Create a feature_init event.

You will normally not call this from your code.

Parameters:
t timestamp that identifies the camera frame, in which this feature is initialised.
id feature id.
u u coordinate of initial image measurement of the new feature.
v v coordinate of initial image measurement of the new feature.
has_disparity whether the initial measurement has a disparity value (for stereo cameras).
d d coordinate of initial image measurement (for stereo cameras).
has_normal whether the initial measurement contains a normal vector for the feature
normal_x x coordinate of normal vector relative to the camera pose of this first observation.
normal_y y coordinate of normal vector relative to the camera pose of this first observation.
normal_z z coordinate of normal vector relative to the camera pose of this first observation.


Member Data Documentation

identifies the camera frame, in which this feature is initialised

feature id.

initial image measurement of the feature.

initial image measurement of the feature.

whether the initial measurement has a disparity value (for stereo cameras)

initial disparity measurement.

whether the initial measurement contains a normal vector for the feature

normal vector relative to the camera pose of this first observation.

normal vector relative to the camera pose of this first observation.

normal vector relative to the camera pose of this first observation.


The documentation for this struct was generated from the following file:

Generated on Mon Jan 11 13:11:57 2010 for VSLAM API by  doxygen 1.5.6