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| author | Martin Miller | 2017-04-08 19:15:25 -0500 |
|---|---|---|
| committer | Martin Miller | 2017-04-08 19:15:25 -0500 |
| commit | cbc3a7a308d1edde429022a9492eeedce24c5fd9 (patch) | |
| tree | 3afb83f95dcc944696be16d93bec9cd425937148 /src/feature.h | |
| parent | 728cc9930cbea478ca732b6c19bab275ef50c6d0 (diff) | |
| download | refslam-cbc3a7a308d1edde429022a9492eeedce24c5fd9.zip refslam-cbc3a7a308d1edde429022a9492eeedce24c5fd9.tar.gz | |
Add code to perform a guided measurement.
The Vision class can template match in a search region. The search
region result is masked by an ellipse related to the S matrix of the
feature.
Diffstat (limited to 'src/feature.h')
| -rw-r--r-- | src/feature.h | 11 |
1 files changed, 7 insertions, 4 deletions
diff --git a/src/feature.h b/src/feature.h index d5e84b4..1c0718d 100644 --- a/src/feature.h +++ b/src/feature.h @@ -1,5 +1,6 @@ #ifndef feature_INC #define feature_INC +#include <cv.h> #include <Eigen/Dense> #include <iostream> #include "types.h" @@ -13,11 +14,11 @@ #define FEATURECOVRHO 25e-4 /* */ #define FEATURECOVRHO_MONO 0.5 /* */ #define RHO_0 1./10. /* */ -#define INLIER_THRESHOLD 5.9915 /* */ #define RANSAC_LI_THRESHOLD 4e-5 /* */ #define RANSAC_HI_THRESHOLD 5e-2 /* */ #define INITDEPTH +using cv::Mat; using Eigen::Dynamic; using Eigen::Matrix; using Eigen::MatrixXd; @@ -40,15 +41,16 @@ class Feature public: /* ==================== LIFECYCLE ======================================= */ Feature ( int id, const Vector3d &xs, const Vector3d &xr, - const Vector3d &xbw, const Quaterniond &q, double z); + const Vector3d &xbw, const Quaterniond &q, double z, Mat &p); Feature ( int id, const Vector3d &xs, const Vector3d &xbw, - const Quaterniond &q); + const Quaterniond &q, Mat &p); /* ==================== ACCESSORS ======================================= */ int id(); Matrix<double,3,3> P0(measurement_type t); Vector3d asVector(); UTM utm(Vector3d &xbw, Quaterniond &q); + Mat patch(); /* ==================== MUTATORS ======================================= */ void asVector(const Vector3d &m); @@ -91,9 +93,10 @@ class Feature /* ==================== DATA MEMBERS ======================================= */ int _id; + Mat _patch; + Quaterniond q0; Vector3d X; Vector3d X0; - Quaterniond q0; Vector3d xb0w; }; /* ----- end of class Feature ----- */ |