mrpt::srba::landmark_traits< LM_TRAITS >::TRelativeLandmarkPos Struct Reference

Detailed Description

template<class LM_TRAITS>
struct mrpt::srba::landmark_traits< LM_TRAITS >::TRelativeLandmarkPos

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

Definition at line 106 of file srba_types.h.

#include <mrpt/srba/srba_types.h>

Public Member Functions
	TRelativeLandmarkPos ()
template<typename LANDMARK_POS >
	TRelativeLandmarkPos (const TKeyFrameID _id_frame_base, const LANDMARK_POS &_pos)
	Constructor from a base KF ID "_id_frame_base" and any object "_pos" that offers a read [] operator and has the correct length of "LM_TRAITS::LM_DIMS". More...

Public Attributes
TKeyFrameID	id_frame_base
	The ID of the camera frame which is the coordinate reference of pos. More...
array_landmark_t	pos
	The parameterization of the feature location, wrt to the camera frame id_frame_base - For example, this could simply be Euclidean coordinates (x,y,z) More...

Constructor & Destructor Documentation

template<class LM_TRAITS>

mrpt::srba::landmark_traits< LM_TRAITS >::TRelativeLandmarkPos::TRelativeLandmarkPos ( )

inline

Definition at line 108 of file srba_types.h.

template<class LM_TRAITS>

template<typename LANDMARK_POS >

mrpt::srba::landmark_traits< LM_TRAITS >::TRelativeLandmarkPos::TRelativeLandmarkPos ( const TKeyFrameID  _id_frame_base, const LANDMARK_POS &  _pos  )

inline

Constructor from a base KF ID "_id_frame_base" and any object "_pos" that offers a read [] operator and has the correct length of "LM_TRAITS::LM_DIMS".

Template Parameters

LANDMARK_POS

Could be: "array_landmark_t", "double *", "mrpt::math::TPoint3D", etc.

Definition at line 113 of file srba_types.h.

References mrpt::srba::landmark_traits< LM_TRAITS >::TRelativeLandmarkPos::pos.

Member Data Documentation

template<class LM_TRAITS>

TKeyFrameID mrpt::srba::landmark_traits< LM_TRAITS >::TRelativeLandmarkPos::id_frame_base

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

Definition at line 117 of file srba_types.h.

template<class LM_TRAITS>

array_landmark_t mrpt::srba::landmark_traits< LM_TRAITS >::TRelativeLandmarkPos::pos

The parameterization of the feature location, wrt to the camera frame id_frame_base - For example, this could simply be Euclidean coordinates (x,y,z)

Definition at line 118 of file srba_types.h.

Referenced by mrpt::srba::landmark_traits< LM_TRAITS >::TRelativeLandmarkPos::TRelativeLandmarkPos().