#include <gandalf/vision/line_feature.h>
Public Attributes  
unsigned  r1 
row/column coordinates in coordinate frame of 2D feature array  
unsigned  c1 
row/column coordinates in coordinate frame of 2D feature array  
unsigned  r2 
row/column coordinates in coordinate frame of 2D feature array  
unsigned  c2 
row/column coordinates in coordinate frame of 2D feature array  
Gan_Vector2_f  p1 
endpoints of line  
Gan_Vector2_f  p2 
endpoints of line  
float  strength 
line feature strength/contrast value  
Gan_Vector3_f  l 
line parameters a*x + b*y + c = 0 scaled so that a^2 + b^2 = 1  
Gan_SquMatrix22_f  N 
Covariance/inverse covariance of line midpoint position.  
Gan_SquMatrix22_f  Ni 
Covariance/inverse covariance of line midpoint position.  
int  status 
fields for user program to define  
int  index 
Gan_Vector2_f *  point 
array of points attached to this line  
unsigned  npoints 
number of points attached to this line 

Covariance/inverse covariance of line midpoint position. covariance and inverse covariance for canonical line parameters in , with system centred on midpoint of line with positive axis along the line towards endpoint, and positive axis 90 degrees clockwise/anticlockwise from axis for positive up/down respectively. 

Covariance/inverse covariance of line midpoint position. covariance and inverse covariance for canonical line parameters in , with system centred on midpoint of line with positive axis along the line towards endpoint, and positive axis 90 degrees clockwise/anticlockwise from axis for positive up/down respectively. 