Represents a 3D point parameterized by inverse depth in the host frame. More...

Public Member Functions
	InvDepthPoint ()
	Default constructor.
	InvDepthPoint (g_type _rho, g_type _u, g_type _v, KeyFrame *pHostKF)
	Constructs from inverse depth and pixel coordinates.
void	Update (const g_type *pu)
	Updates the inverse depth from the optimization delta.

Public Attributes
g_type	bf
	Intrinsic parameters from the host frame.
int	its
	Iteration counter.
g_type	rho
	Inverse depth value.
g_type	v
	Pixel observation coordinates in the host frame.

Detailed Description

Represents a 3D point parameterized by inverse depth in the host frame.

Definition at line 169 of file G2oTypes.h.

Constructor & Destructor Documentation

InvDepthPoint::InvDepthPoint	(	g_type	_rho,
		g_type	_u,
		g_type	_v,
		KeyFrame *	pHostKF )

Constructs from inverse depth and pixel coordinates.

Parameters

[in]	_rho	Inverse depth.
[in]	_u	Pixel u coordinate in the host frame.
[in]	_v	Pixel v coordinate in the host frame.
[in]	pHostKF	Host keyframe.

void InvDepthPoint::Update ( const g_type * pu )

Updates the inverse depth from the optimization delta.

Parameters

[in] pu Pointer to the update value.

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