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| author | Martin Miller | 2017-03-25 20:42:45 -0500 |
|---|---|---|
| committer | Martin Miller | 2017-03-25 20:42:45 -0500 |
| commit | 5b772241ab55eb844edbcbfa99744357068d159e (patch) | |
| tree | 667597037bbf9f57bcf136c16c2ef9dc34a99413 /src/feature.cpp | |
| parent | bd36055542b49b0bb7611ec9c320f7bbabaf6c27 (diff) | |
| download | refslam-5b772241ab55eb844edbcbfa99744357068d159e.zip refslam-5b772241ab55eb844edbcbfa99744357068d159e.tar.gz | |
Add initial view to Feature.
Diffstat (limited to 'src/feature.cpp')
| -rw-r--r-- | src/feature.cpp | 7 |
1 files changed, 7 insertions, 0 deletions
diff --git a/src/feature.cpp b/src/feature.cpp index 23a7fb7..fe62bbf 100644 --- a/src/feature.cpp +++ b/src/feature.cpp @@ -32,10 +32,17 @@ Feature::Feature ( int id, const Vector3d &xs, const Vector3d &xr, Vector3d xib; xib = findDepth(q,z,xs,xr); X = x2p(xib); + X0 = X; xb0w = xbw; q0 = q; } /* ----- end of method Feature::Feature (constructor) ----- */ +Vector2d +Feature::initialView ( ) +{ + return X0.segment<2>(0); +} /* ----- end of method Feature::initialView ----- */ + /* *-------------------------------------------------------------------------------------- |