42 lines
1.1 KiB
C++
42 lines
1.1 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file Feature2D.h
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* @brief
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* @author Duy-Nguyen Ta
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*/
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#pragma once
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#include "gtsam/geometry/Point2.h"
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#include <iostream>
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struct Feature2D
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{
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gtsam::Point2 m_p;
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int m_idCamera; // id of the camera pose that makes this measurement
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int m_idLandmark; // id of the 3D landmark that it is associated with
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Feature2D(int idCamera, int idLandmark, gtsam::Point2 p) :
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m_p(p),
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m_idCamera(idCamera),
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m_idLandmark(idLandmark) {}
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void print(const std::string& s = "") const {
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std::cout << s << std::endl;
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std::cout << "Pose id: " << m_idCamera << " -- Landmark id: " << m_idLandmark << std::endl;
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m_p.print("\tMeasurement: ");
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}
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};
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