Remove features after 5 timesteps without measurements

1 files changed, 3 insertions, 0 deletions

diff --git a/src/feature.h b/src/feature.h
index 65850af..c0d3ac6 100644
--- a/src/feature.h
+++ b/src/feature.h
@@ -60,6 +60,8 @@ class Feature
         void asVector(const Vector3d &m);
         void motionModel ( const Vector3d &ang, const Vector3d &vel, const double dt);
         void dx( const Vector3d &del);
+        void seen();
+        bool since(int N) const;
 
         /* ====================  OPERATORS     ======================================= */
         bool sane();
@@ -98,6 +100,7 @@ class Feature
         /* ====================  DATA MEMBERS  ======================================= */
         int _id;
         Mat _patch;
+        unsigned int lastseen;
         Quaterniond q0;
         Vector3d X;
         Vector3d X0;