76 lines
2.2 KiB
C++
76 lines
2.2 KiB
C++
// This file is part of SVO - Semi-direct Visual Odometry.
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//
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// Copyright (C) 2014 Christian Forster <forster at ifi dot uzh dot ch>
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// (Robotics and Perception Group, University of Zurich, Switzerland).
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//
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// SVO is free software: you can redistribute it and/or modify it under the
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// terms of the GNU General Public License as published by the Free Software
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// Foundation, either version 3 of the License, or any later version.
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//
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// SVO is distributed in the hope that it will be useful, but WITHOUT ANY
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// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program. If not, see <http://www.gnu.org/licenses/>.
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#ifndef SVO_FEATURE_H_
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#define SVO_FEATURE_H_
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#include <gpu_svo/frame.h>
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namespace svo {
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/// A salient image region that is tracked across frames.
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struct Feature
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{
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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enum FeatureType {
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CORNER,
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EDGELET
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};
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FeatureType type; //!< Type can be corner or edgelet.
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Frame* frame; //!< Pointer to frame in which the feature was detected.
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Vector2d px; //!< Coordinates in pixels on pyramid level 0.
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Vector3d f; //!< Unit-bearing vector of the feature.
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int level; //!< Image pyramid level where feature was extracted.
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Point* point; //!< Pointer to 3D point which corresponds to the feature.
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Vector2d grad; //!< Dominant gradient direction for edglets, normalized.
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Feature(Frame* _frame, const Vector2d& _px, int _level) :
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type(CORNER),
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frame(_frame),
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px(_px),
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f(frame->cam_->cam2world(px)),
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level(_level),
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point(NULL),
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grad(1.0,0.0)
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{}
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Feature(Frame* _frame, const Vector2d& _px, const Vector3d& _f, int _level) :
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type(CORNER),
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frame(_frame),
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px(_px),
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f(_f),
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level(_level),
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point(NULL),
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grad(1.0,0.0)
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{}
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Feature(Frame* _frame, Point* _point, const Vector2d& _px, const Vector3d& _f, int _level) :
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type(CORNER),
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frame(_frame),
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px(_px),
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f(_f),
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level(_level),
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point(_point),
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grad(1.0,0.0)
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{}
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};
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} // namespace svo
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#endif // SVO_FEATURE_H_
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