struct mrpt::obs::CObservation6DFeatures::TMeasurement

Overview

Each one of the measurements.

#include <mrpt/obs/CObservation6DFeatures.h>

struct TMeasurement
{
    // fields

    mrpt::poses::CPose3D pose;
    int32_t id;
    mrpt::math::CMatrixDouble66 inf_matrix;

    // construction

    TMeasurement();
};

Fields

mrpt::poses::CPose3D pose

The observed feature SE(3) pose with respect to the sensor.

int32_t id

The feature ID, or INVALID_LANDMARK_ID if unidentified (default)

mrpt::math::CMatrixDouble66 inf_matrix

The inverse of the observation covariance matrix (default:all zeros)

Construction

TMeasurement()

Ctor with default values.