Function slam_mer::utils::__compute_query_vector

• Defined in File descriptor_model.hpp

Function Documentation

Eigen::Vector3d slam_mer::utils::__compute_query_vector(const point3d_t &point3d_, const pose_t &pose_)

Computes the query vector from the point and pose. The query vector is the normalized vector from the point to the camera center in world coordinates.

Parameters:

• point3d_ – The 3D point for which to compute the query vector.

• pose_ – The pose of the camera observing the point.

Returns:

The normalized query vector from the point to the camera center in world coordinates.