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authorMartin Miller2017-03-25 17:24:06 -0500
committerMartin Miller2017-03-25 17:24:06 -0500
commit8535af062e26f583383174e7c78514bc107efdcb (patch)
treed70ff608d12c183bc5703f575e10b2f836b5c227 /src/feature.h
parentf409d322fd400b412c632b74f76c6c9794fbf6c0 (diff)
downloadrefslam-8535af062e26f583383174e7c78514bc107efdcb.zip
refslam-8535af062e26f583383174e7c78514bc107efdcb.tar.gz
Add Feature method to test if in FOV
Added a boolean function that returns if the feature is in the FOV. This method does not use the camera calibration, it just tests if the feature's angle w.r.t. the body.
Diffstat (limited to 'src/feature.h')
-rw-r--r--src/feature.h1
1 files changed, 1 insertions, 0 deletions
diff --git a/src/feature.h b/src/feature.h
index b921d8b..d7015f2 100644
--- a/src/feature.h
+++ b/src/feature.h
@@ -37,6 +37,7 @@ class Feature
/* ==================== OPERATORS ======================================= */
bool sane();
+ bool inFOV();
Vector3d findDepth( const Quaterniond &q, double z, const Vector3d &xs,
const Vector3d &xr);
Matrix<double,3,9> Fx( double dt );