Class FeaturePerId

Class Documentation

class FeaturePerId

Map point indexed by feature_id which contains all feature observations in different frames.

Public Functions

inline FeaturePerId(int _feature_id, int _start_frame)
int endFrame()
Returns

The frame index of the last observation of this map point.

Public Members

const int feature_id

Index of this map point.

int start_frame

The frame index of first observation of this map point.

vector<FeaturePerFrame> feature_per_frame

Vector of features in each frame(observation). Its size if the number of observations.

int used_num

Size of feature_per_frame, observation times.

double estimated_depth

Estimated depth in meters.

int solve_flag

Flag of depth estimation successful or not.

Note

0 haven’t solve yet; 1 solve succ; 2 solve fail (estimated depth <0);