struct mola::SmartFactorStereoProjectionPose::obs_tuple_t

Overview

#include <SmartFactorStereoProjectionPose.h>

struct obs_tuple_t
{
    // fields

    StereoObservation pixel_coords;
    id_t observing_kf;
    id_t camera_params;

    // construction

    obs_tuple_t(
        const StereoObservation& pt,
        id_t obs_kf,
        id_t cam_params
        );
};