* @brief If the container is empty. * * @return true * @return false */

update this one? maybe an invert and inverse (invert operates on this one)

construct from an estimate map

* @brief Get the keypoints unique tracklet id (ie. i). * * @return TrackletId */

This method has no effects in this class, but raises an exception if the * expected size does not match */

* @brief Get the Frame object. * If the frame does not exist, return nullptr. * * @param frame_id FrameId * @return FrameNodeM::Ptr */

* @brief Get the object id associated with this feature (0 if * background, 1...N for object. ie. j) * * @return ObjectId */

* @brief Gets keypoint observation. * * @return Keypoint */

* @brief Depth of this keypoint (will be Feature::invalid_depth is depth is * not set). * * @return Depth */

front() and back()

* @brief If the feature is valid - a combination of inlier and if the * tracklet Id != -1 * * To make a feature invalid, set tracklet_id == -

* @brief Get the frame id this feature was observed in (ie. k). * * @return FrameId */

Retrieve key character */

Calcualtes RME on a motion trajectory and associated ground truth pose trajectory :param data: tuple (traj_pose_ref, traj_motion_est

alows stl access

* @brief Handy insert function allowing direct insertion to the nested map * structure. * * @param object_id * @param frame_id * @param

* @brief Get the number of consequative frames this feature has been * successfully tracked in. * * @return size_t */

* @brief Get the fully qualified name of this formulation which is derived * from the loggerPrefix and optionally the FormulationParams::suffix if

* @brief Get the Landmark object. * If the landmark does not exist, return nullptr. * * @param tracklet_id TrackletId * @return LandmarkNo

TODO: test this will mess up any iterator that currently has a reference to any feature_map_ (so any of the filters)