A single bundle adjustment feature observation: one keypoint seen in one frame. More...

#include <Optimizer.h>

Public Member Functions
	FeatureBA (const cv::KeyPoint &kptIn, const float &depthIn=0.0f, const cv::Mat &descriptorIn=cv::Mat(), int cameraIndexIn=0)

Public Attributes
cv::KeyPoint	kpt
	2D image keypoint.

float	depth
	Depth at kpt in meters, or 0 if unknown (monocular).

cv::Mat	descriptor
	Optional descriptor for the keypoint (used when re-matching is enabled).

int	cameraIndex
	Index into the frame's camera model list for multi-camera rigs.

Detailed Description

A single bundle adjustment feature observation: one keypoint seen in one frame.

Used as the per-frame value in the wordReferences map (<wordId, <frameId, FeatureBA>>) passed to Optimizer::optimizeBA(). depth is in meters when available (RGB-D / stereo with disparity) or 0 if unknown (monocular). descriptor and cameraIndex are optional; cameraIndex selects which CameraModel of a multi-camera rig the keypoint belongs to.

Definition at line 51 of file Optimizer.h.

Constructor & Destructor Documentation

◆ FeatureBA()

rtabmap::FeatureBA::FeatureBA	(	const cv::KeyPoint &	kptIn,
		const float &	depthIn = `0.0f`,
		const cv::Mat &	descriptorIn = `cv::Mat()`,
		int	cameraIndexIn = `0`
	)

inline

Definition at line 54 of file Optimizer.h.

Member Data Documentation

◆ kpt

cv::KeyPoint rtabmap::FeatureBA::kpt

2D image keypoint.

Definition at line 62 of file Optimizer.h.

◆ depth

float rtabmap::FeatureBA::depth

Depth at kpt in meters, or 0 if unknown (monocular).

Definition at line 63 of file Optimizer.h.

◆ descriptor

cv::Mat rtabmap::FeatureBA::descriptor

Optional descriptor for the keypoint (used when re-matching is enabled).

Definition at line 64 of file Optimizer.h.

◆ cameraIndex

int rtabmap::FeatureBA::cameraIndex

Index into the frame's camera model list for multi-camera rigs.

Definition at line 65 of file Optimizer.h.

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

corelib/include/rtabmap/core/Optimizer.h

Public Member Functions

Public Attributes