From 8535af062e26f583383174e7c78514bc107efdcb Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Sat, 25 Mar 2017 17:24:06 -0500
Subject: 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.
---
 src/feature.h | 1 +
 1 file changed, 1 insertion(+)

(limited to 'src/feature.h')

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 );
-- 
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