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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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<p>A single bundle adjustment feature observation: one keypoint seen in one frame.
<a href="classrtabmap_1_1FeatureBA.html#details">More...</a></p>
<p><code>#include &lt;<a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>&gt;</code></p>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a9e3336b09b6913c0b922e6b2f194ba76" id="r_a9e3336b09b6913c0b922e6b2f194ba76"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1FeatureBA.html#a9e3336b09b6913c0b922e6b2f194ba76">FeatureBA</a> (const cv::KeyPoint &amp;kptIn, const float &amp;depthIn=0.0f, const cv::Mat &amp;descriptorIn=cv::Mat(), int cameraIndexIn=0)</td></tr>
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Public Attributes</h2></td></tr>
<tr class="memitem:a2bea5690d958d81f5edfa6df954d4a8b" id="r_a2bea5690d958d81f5edfa6df954d4a8b"><td class="memItemLeft" align="right" valign="top">cv::KeyPoint&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1FeatureBA.html#a2bea5690d958d81f5edfa6df954d4a8b">kpt</a></td></tr>
<tr class="memdesc:a2bea5690d958d81f5edfa6df954d4a8b"><td class="mdescLeft">&#160;</td><td class="mdescRight">2D image keypoint. <br /></td></tr>
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<tr class="memitem:ad48600a5b6ed17e7713f1485c4317948" id="r_ad48600a5b6ed17e7713f1485c4317948"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1FeatureBA.html#ad48600a5b6ed17e7713f1485c4317948">depth</a></td></tr>
<tr class="memdesc:ad48600a5b6ed17e7713f1485c4317948"><td class="mdescLeft">&#160;</td><td class="mdescRight">Depth at <a class="el" href="classrtabmap_1_1FeatureBA.html#a2bea5690d958d81f5edfa6df954d4a8b">kpt</a> in meters, or 0 if unknown (monocular). <br /></td></tr>
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<tr class="memdesc:a7db630b2f418b05d2fbd772d1caadf48"><td class="mdescLeft">&#160;</td><td class="mdescRight">Optional descriptor for the keypoint (used when re-matching is enabled). <br /></td></tr>
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<tr class="memdesc:a8db953b6f93249d5c28c25073cd4e095"><td class="mdescLeft">&#160;</td><td class="mdescRight">Index into the frame's camera model list for multi-camera rigs. <br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>A single bundle adjustment feature observation: one keypoint seen in one frame. </p>
<p>Used as the per-frame value in the <code>wordReferences</code> map (<code>&lt;wordId, &lt;frameId, <a class="el" href="classrtabmap_1_1FeatureBA.html" title="A single bundle adjustment feature observation: one keypoint seen in one frame.">FeatureBA</a>&gt;&gt;</code>) passed to <a class="el" href="classrtabmap_1_1Optimizer.html#a038e8df970ab744f6f4ba7027f62b263">Optimizer::optimizeBA()</a>. <a class="el" href="classrtabmap_1_1FeatureBA.html#ad48600a5b6ed17e7713f1485c4317948">depth</a> is in meters when available (RGB-D / stereo with disparity) or 0 if unknown (monocular). <a class="el" href="classrtabmap_1_1FeatureBA.html#a7db630b2f418b05d2fbd772d1caadf48">descriptor</a> and <a class="el" href="classrtabmap_1_1FeatureBA.html#a8db953b6f93249d5c28c25073cd4e095">cameraIndex</a> are optional; <a class="el" href="classrtabmap_1_1FeatureBA.html#a8db953b6f93249d5c28c25073cd4e095">cameraIndex</a> selects which <a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a> of a multi-camera rig the keypoint belongs to. </p>
<p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00050">50</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a9e3336b09b6913c0b922e6b2f194ba76">&#9670;&#160;</a></span>FeatureBA()</h2>
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<td>(</td>
<td class="paramtype">const cv::KeyPoint &amp;&#160;</td>
<td class="paramname"><em>kptIn</em>, </td>
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<td class="paramtype">const float &amp;&#160;</td>
<td class="paramname"><em>depthIn</em> = <code>0.0f</code>, </td>
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<td class="paramtype">const cv::Mat &amp;&#160;</td>
<td class="paramname"><em>descriptorIn</em> = <code>cv::Mat()</code>, </td>
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<td class="paramtype">int&#160;</td>
<td class="paramname"><em>cameraIndexIn</em> = <code>0</code>&#160;</td>
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<td>)</td>
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<p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00053">53</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p>
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<h2 class="groupheader">Member Data Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a2bea5690d958d81f5edfa6df954d4a8b">&#9670;&#160;</a></span>kpt</h2>
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<td class="memname">cv::KeyPoint rtabmap::FeatureBA::kpt</td>
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<p>2D image keypoint. </p>
<p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00061">61</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#ad48600a5b6ed17e7713f1485c4317948">&#9670;&#160;</a></span>depth</h2>
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<p>Depth at <a class="el" href="classrtabmap_1_1FeatureBA.html#a2bea5690d958d81f5edfa6df954d4a8b">kpt</a> in meters, or 0 if unknown (monocular). </p>
<p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00062">62</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a7db630b2f418b05d2fbd772d1caadf48">&#9670;&#160;</a></span>descriptor</h2>
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<p>Optional descriptor for the keypoint (used when re-matching is enabled). </p>
<p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00063">63</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a8db953b6f93249d5c28c25073cd4e095">&#9670;&#160;</a></span>cameraIndex</h2>
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<td class="memname">int rtabmap::FeatureBA::cameraIndex</td>
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<p>Index into the frame's camera model list for multi-camera rigs. </p>
<p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00064">64</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p>
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<hr/>The documentation for this class was generated from the following file:<ul>
<li>corelib/include/rtabmap/core/<a class="el" href="Optimizer_8h_source.html">Optimizer.h</a></li>
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