diff options
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 ----- */ + /* *-------------------------------------------------------------------------------------- |