struct mrpt::vision::TFeatureObservation

One feature observation entry, used within sequences with TSequenceFeatureObservations.

#include <mrpt/vision/types.h>

struct TFeatureObservation
{
    //
fields

    TLandmarkID id_feature;
    TCameraPoseID id_frame;
    mrpt::img::TPixelCoordf px;

    // construction

    TFeatureObservation();

    TFeatureObservation(
        const TLandmarkID _id_feature,
        const TCameraPoseID _id_frame,
        const mrpt::img::TPixelCoordf& _px
        );
};

Fields

TLandmarkID id_feature

A unique ID of this feature.

TCameraPoseID id_frame

A unique ID of a “frame” (camera position) from where the feature was observed.

mrpt::img::TPixelCoordf px

The pixel coordinates of the observed feature.