svo::Feature Struct Reference

A salient image region that is tracked across frames. More...

#include <feature.h>

List of all members.

Public Types
enum	FeatureType { CORNER, EDGELET }
Public Member Functions
	Feature (Frame *_frame, const Vector2d &_px, int _level)
	Feature (Frame *_frame, const Vector2d &_px, const Vector3d &_f, int _level)
	Feature (Frame *_frame, Point *_point, const Vector2d &_px, const Vector3d &_f, int _level)
Public Attributes
FeatureType	type
	Type can be corner or edgelet.
Frame *	frame
	Pointer to frame in which the feature was detected.
Vector2d	px
	Coordinates in pixels on pyramid level 0.
Vector3d	f
	Unit-bearing vector of the feature.
int	level
	Image pyramid level where feature was extracted.
Point *	point
	Pointer to 3D point which corresponds to the feature.
Vector2d	grad
	Dominant gradient direction for edglets, normalized.

---

Detailed Description

A salient image region that is tracked across frames.

---

Member Enumeration Documentation

enum svo::Feature::FeatureType

Enumerator:

CORNER
EDGELET

---

Constructor & Destructor Documentation

svo::Feature::Feature	(	Frame *	_frame,
		const Vector2d &	_px,
		int	_level
	)		[inline]

svo::Feature::Feature	(	Frame *	_frame,
		const Vector2d &	_px,
		const Vector3d &	_f,
		int	_level
	)		[inline]

svo::Feature::Feature	(	Frame *	_frame,
		Point *	_point,
		const Vector2d &	_px,
		const Vector3d &	_f,
		int	_level
	)		[inline]

---

Member Data Documentation

Vector3d svo::Feature::f

Unit-bearing vector of the feature.

Frame* svo::Feature::frame

Pointer to frame in which the feature was detected.

Vector2d svo::Feature::grad

Dominant gradient direction for edglets, normalized.

int svo::Feature::level

Image pyramid level where feature was extracted.

Point* svo::Feature::point

Pointer to 3D point which corresponds to the feature.

Vector2d svo::Feature::px

Coordinates in pixels on pyramid level 0.

FeatureType svo::Feature::type

Type can be corner or edgelet.

---

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

• include/svo/feature.h