msceqf::Features Struct Reference

(Cache friendly) Features struct. Define a set of features detected/tracked. More...

#include <features.hpp>

Public Types
using	FeatureIds = std::vector<uint>
	Vector of feature ids.

Public Member Functions
bool	empty () const noexcept
	Check if there valid coordinates in uvs_.
size_t	size () const noexcept
	Return the amount of features (size of uvs_).
void	removeInvalid (std::vector< bool > &invalid)
	Remove invalid features coordinates, normalized feature coordinates and ids given a vector of boolean flags indicating invalid features.

Public Attributes
FeaturesCoordinates	distorted_uvs_
	Distorted (u, v) coordinates of the features detected/tracked.
FeaturesCoordinates	uvs_
	Undistorted (u, v) coordinates of the features detected/tracked.
FeaturesCoordinates	normalized_uvs_
	Undistorted normalized (u, v) coordinates of features detected/tracked.
FeatureIds	ids_
	Id of the features detected/tracked.

Detailed Description

(Cache friendly) Features struct. Define a set of features detected/tracked.

Note

Note that feature cordinates are of cv::Point2f type for compatibility with OpenCV.

Member Function Documentation

empty()

bool msceqf::Features::empty ( ) const

inlinenoexcept

Check if there valid coordinates in uvs_.

Returns

true if coordinates are found, false otherwise

removeInvalid()

void msceqf::Features::removeInvalid ( std::vector< bool > & invalid )

inline

Remove invalid features coordinates, normalized feature coordinates and ids given a vector of boolean flags indicating invalid features.

Parameters

invalid

Vector of boolean flags indicating invalid features

size()

size_t msceqf::Features::size ( ) const

inlinenoexcept

Return the amount of features (size of uvs_).

Returns

Number of features

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The documentation for this struct was generated from the following file:

• include/vision/features.hpp