A single 2D point feature class. More...

#include <Point2D.h>

Inheritance diagram for isae::Point2D:

Collaboration diagram for isae::Point2D:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Point2D ()

	Point2D (std::vector< Eigen::Vector2d > poses2d, cv::Mat desc=cv::Mat(), int octave=0, float response=0)

Public Member Functions inherited from isae::AFeature
	AFeature ()

	AFeature (std::vector< Eigen::Vector2d > poses2d, cv::Mat desc=cv::Mat(), int octave=0, double sigma=1.0)

const std::vector< Eigen::Vector2d >	getPoints () const

void	setPoints (std::vector< Eigen::Vector2d > poses2d)

const cv::Mat &	getDescriptor () const

void	setDescriptor (cv::Mat descriptor)

const int &	getOctave () const

void	setOctave (int octave)

const float	getResponse ()

const double	getSigma ()

const std::string	getFeatureLabel () const

std::weak_ptr< ALandmark >	getLandmark ()

void	linkLandmark (std::shared_ptr< ALandmark > landmark)

void	unlinkLandmark ()

void	setSensor (std::shared_ptr< ImageSensor > sensor)

std::shared_ptr< ImageSensor >	getSensor ()

void	computeBearingVectors ()
	Compute the bearing vectors from the 2D points, usually inverting the camera projection model. More...

std::vector< Eigen::Vector3d >	getBearingVectors ()

std::vector< Eigen::Vector3d >	getRays ()

void	setOutlier ()
	Set the 2D feature as an outlier. More...

bool	isOutlier ()
	True if the feature is an outlier. More...

Additional Inherited Members
Protected Attributes inherited from isae::AFeature
std::string	_feature_label
	Feature label, e.g. point, line, bouding box, etc. More...

std::vector< Eigen::Vector2d >	_poses2d
	2D coordinates of the points of the feature in the image More...

std::vector< Eigen::Vector3d >	_bearing_vectors
	Bearing vectors corresponding to the 2D points. More...

cv::Mat	_descriptor
	Descriptor of the feature, e.g. SIFT, ORB, etc. More...

int	_octave
	Octave of the feature, used in multi-scale feature detection. More...

float	_response
	Response of the feature, i.e. strength of the feature. More...

double	_sigma
	Noise level of the feature. More...

std::weak_ptr< ImageSensor >	_sensor
	Link to the parent sensor. More...

std::weak_ptr< ALandmark >	_landmark
	Link to the landmark associated with the feature. More...

bool	_outlier = false
	Flag to indicate if the feature is an outlier. More...

std::mutex	_feat_mtx

Detailed Description

A single 2D point feature class.

Point2D class represents a single 2D point feature in the image, labeled as "pointxd".

Constructor & Destructor Documentation

EIGEN_MAKE_ALIGNED_OPERATOR_NEW isae::Point2D::Point2D ( )

inline

inline

The documentation for this class was generated from the following file:

/home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/include/isaeslam/data/features/Point2D.h