Class FeaturePerFrame

Class Documentation

class FeaturePerFrame

Contains all the feature properties including 2D observations, estimated velocity.

Public Functions

inline FeaturePerFrame(const Eigen::Matrix<double, 7, 1> &_point, double td)

Construct FeaturePerFrame class with feature properties of left image.

Parameters

  • _point –

  • td – Time interval between this frame and previous frame of the same map point.

inline void rightObservation(const Eigen::Matrix<double, 7, 1> &_point)

Add the right image observation to this class.

Parameters

_point – Feature properties

Public Members

double cur_td

Time interval between current frame and previous frame.

Vector3d point

2D homogeneous coordinate of undistorted point of left image.

Vector3d pointRight

2D homogeneous coordinate of undistorted point of right image.

Vector2d uv

2D coordinate of raw point of left image.

Vector2d uvRight

2D coordinate of raw point of right image.

Vector2d velocity

2D point velocity on left image plane, compared with previous associated feature point.

Vector2d velocityRight

2D point velocity on right image plane, compared with previous associated feature point.

bool is_stereo

true if there is right image observation.