29 lines
742 B
C++
29 lines
742 B
C++
#ifndef FEATURE2D_H
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#define FEATURE2D_H
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#include "gtsam/geometry/Point2.h"
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#include <iostream>
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class Feature2D
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{
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public:
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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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public:
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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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{};
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void print(const std::string& s = "") const
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{
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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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#endif // FEATURE2D_H
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