29 lines
702 B
C++
29 lines
702 B
C++
#ifndef FEATURE2D_H
|
|
#define FEATURE2D_H
|
|
|
|
#include "gtsam/geometry/Point2.h"
|
|
#include <iostream>
|
|
|
|
class Feature2D
|
|
{
|
|
public:
|
|
gtsam::Point2 m_p;
|
|
int m_idCamera; // id of the camera pose that makes this measurement
|
|
int m_idLandmark; // id of the 3D landmark that it is associated with
|
|
public:
|
|
Feature2D(int idCamera, int idLandmark, gtsam::Point2 p)
|
|
:m_idCamera(idCamera),
|
|
m_idLandmark(idLandmark),
|
|
m_p(p)
|
|
{};
|
|
|
|
void print(const std::string& s = "") const
|
|
{
|
|
std::cout << s << std::endl;
|
|
std::cout << "Pose id: " << m_idCamera << " -- Landmark id: " << m_idLandmark << std::endl;
|
|
m_p.print("\tMeasurement: ");
|
|
}
|
|
};
|
|
|
|
#endif // FEATURE2D_H
|