diff options
Diffstat (limited to 'src/feature.cpp')
| -rw-r--r-- | src/feature.cpp | 16 |
1 files changed, 14 insertions, 2 deletions
diff --git a/src/feature.cpp b/src/feature.cpp index 22bf776..66b0677 100644 --- a/src/feature.cpp +++ b/src/feature.cpp @@ -26,7 +26,7 @@ *-------------------------------------------------------------------------------------- */ Feature::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) { _id = id; Vector3d xib; @@ -35,6 +35,7 @@ Feature::Feature ( int id, const Vector3d &xs, const Vector3d &xr, X0 = X; xb0w = xbw; q0 = q; + _patch = p; } /* ----- end of method Feature::Feature (constructor) ----- */ /* @@ -45,7 +46,7 @@ Feature::Feature ( int id, const Vector3d &xs, const Vector3d &xr, *-------------------------------------------------------------------------------------- */ Feature::Feature ( int id, const Vector3d &xs, const Vector3d &xbw, - const Quaterniond &q) + const Quaterniond &q, Mat &p) { _id = id; Vector3d xib, pib; @@ -59,6 +60,7 @@ Feature::Feature ( int id, const Vector3d &xs, const Vector3d &xbw, X0 = X; xb0w = xbw; q0 = q; + _patch = p; } @@ -953,11 +955,15 @@ Feature::P0 ( measurement_type t ) double p0 = FEATURECOVX; double p1 = FEATURECOVY; double p2; + if (t==REFLECTION) { #ifdef INITDEPTH p2 = FEATURECOVRHO; #else p2 = FEATURECOVRHO_MONO; #endif + } else { + p2 = FEATURECOVRHO_MONO; + } P << p0, 0., 0., 0., p1, 0., 0., 0., p2; @@ -1107,3 +1113,9 @@ Feature::asVector ( const Vector3d &m ) return ; } /* ----- end of method Feature::asVector ----- */ +Mat +Feature::patch ( ) +{ + return _patch ; +} /* ----- end of method Feature::patch ----- */ + |