UpdaterHelperFeature struct
Feature object that our UpdaterHelper leverages, has all measurements and means.
Contents
- Reference
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)
-
ov_type::
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.