Class KeypointIdentifier

Class Documentation

class aslam::KeypointIdentifier

A reference to a single keypoint observation.

Public Functions

ASLAM_POINTER_TYPEDEFS(KeypointIdentifier)
KeypointIdentifier() = delete
inline size_t getKeypointIndex() const
inline size_t getFrameIndex() const
inline const aslam::NFramesId &getNFrameId() const
inline const aslam::FrameId &getFrameId() const
inline const aslam::VisualFrame &getFrame() const
inline const aslam::VisualNFrame &getNFrame() const
inline const Eigen::Block<Eigen::Matrix2Xd, 2, 1> getKeypointMeasurement() const
inline const uint8_t *getDescriptor() const
inline std::shared_ptr<const aslam::Camera> getCamera() const
inline const aslam::NCamera &getNCamera() const
inline const aslam::Transformation &get_T_C_B() const

Public Static Functions

static inline KeypointIdentifier create(const std::shared_ptr<const aslam::VisualNFrame> &nframe, size_t frame_index, size_t keypoint_index)

Protected Functions

inline KeypointIdentifier(const std::shared_ptr<const aslam::VisualNFrame> &nframe, size_t frame_index, size_t keypoint_index)