struct mrpt::vision::TRelativeFeaturePos

One relative feature observation entry, used with some relative bundle-adjustment functions.

#include <mrpt/vision/types.h>

struct TRelativeFeaturePos
{
    //
fields

    mrpt::vision::TCameraPoseID id_frame_base;
    mrpt::math::TPoint3D pos;

    // construction

    TRelativeFeaturePos();

    TRelativeFeaturePos(
        const mrpt::vision::TCameraPoseID _id_frame_base,
        const mrpt::math::TPoint3D& _pos
        );
};

Fields

mrpt::vision::TCameraPoseID id_frame_base

The ID of the camera frame which is the coordinate reference of pos.

mrpt::math::TPoint3D pos

The (x,y,z) location of the feature, wrt to the camera frame id_frame_base.