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Point.py
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Point.py
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class Point():
"""
A class used to represent map points
...
Attributes
----------
pos3d : tuple
3-D position in the world coordinate system
viewingDirection : np.array
the mean unit vector of all its viewing directions (the rays that join the point with
the optical center of the keyframes that observer it)
descriptor : descriptor
Associated ORB descriptor
dmax : int
Max distance at which the point can be observed according to limits of ORB features
dmin : int
Min distance at which the point can be observed according to limits of ORB features
"""
def __init__(self, pos3D, viewingDirection, descriptor, dmax, dmin):
self.pos3D = pos3D
self.viewingDirection = viewingDirection
self.descriptor = descriptor
self.dmax = dmax
self.dmin = dmin