ov_type::Landmark class

Base classes

class Vec

Derived Type class that implements vector variables.

Constructors, destructors, conversion operators

Landmark(int dim)

Default constructor (feature is a Vec of size 3 or Vec of size 1)

Public functions

void update(const Eigen::VectorXd& dx) override

Overrides the default vector update rule We want to selectively update the FEJ value if we are using an anchored representation.

auto get_xyz(bool getfej) const -> Eigen::Matrix<double, 3, 1>

Will return the position of the feature in the global frame of reference.

void set_from_xyz(Eigen::Matrix<double, 3, 1> p_FinG, bool isfej)

Will set the current value based on the representation.

Public variables

size_t _featid

Feature ID of this landmark (corresponds to frontend id)

int _unique_camera_id

What unique camera stream this slam feature was observed from.

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.

bool has_had_anchor_change

Boolean if this landmark has had at least one anchor change.

bool should_marg

Boolean if this landmark should be marginalized out.

int update_fail_count

Number of times the update has failed for this feature (we should remove if it fails a couple times!)

Eigen::Vector3d uv_norm_zero

First normalized uv coordinate bearing of this measurement (used for single depth representation)

Eigen::Vector3d uv_norm_zero_fej

First estimate normalized uv coordinate bearing of this measurement (used for single depth representation)

LandmarkRepresentation::Representation _feat_representation

What feature representation this feature currently has.

Function documentation