ov_msckf::UpdaterHelper::UpdaterHelperFeature struct

Feature object that our UpdaterHelper leverages, has all measurements and means.

Contents

Public variables

size_t featid
Unique ID of this feature.
std::unordered_map<size_t, std::vector<Eigen::VectorXf>> uvs
UV coordinates that this feature has been seen from (mapped by camera ID)
std::unordered_map<size_t, std::vector<double>> timestamps
Timestamps of each UV measurement (mapped by camera ID)
LandmarkRepresentation::Representation feat_representation
What representation our feature is in.
int anchor_cam_id
What camera ID our pose is anchored in!! By default the first measurement is the anchor.
double anchor_clone_timestamp
Timestamp of anchor clone.
Eigen::Vector3d p_FinA
Triangulated position of this feature, in the anchor frame.
Eigen::Vector3d p_FinA_fej
Triangulated position of this feature, in the anchor frame first estimate.
Eigen::Vector3d p_FinG
Triangulated position of this feature, in the global frame.
Eigen::Vector3d p_FinG_fej
Triangulated position of this feature, in the global frame first estimate.