# opentl::core::cvdata::VisContourSamplePts::VisContourSamplePts::CPOINT Struct Reference

Stores the coordinates of visible edge sample points in body space + companion point index. More...

List of all members.

## Public Attributes
math::Vector4 | bp
| Body-frame position.
std::vector< math::Vector2 > | jacSp
| Warped (2xN) Jacobian matrix.
std::vector< math::Vector2 > | measZ
| Matched image (2D) points (they can be 0, 1 or more).
unsigned int | nFound
| Number of valid matches within the measZ vector (less or equal to its size).
int | partIdx
| id of the link this point belongs to.
math::Vector2 | sp
| Warped (2D) position.

## Detailed Description

Stores the coordinates of visible edge sample points in body space + companion point index.

## Member Data Documentation

math::Vector4 opentl::core::cvdata::VisContourSamplePts::VisContourSamplePts::CPOINT::bp

Body-frame position.

std::vector<math::Vector2> opentl::core::cvdata::VisContourSamplePts::VisContourSamplePts::CPOINT::jacSp

Warped (2xN) Jacobian matrix.

std::vector<math::Vector2> opentl::core::cvdata::VisContourSamplePts::VisContourSamplePts::CPOINT::measZ

Matched image (2D) points (they can be 0, 1 or more).

unsigned int opentl::core::cvdata::VisContourSamplePts::VisContourSamplePts::CPOINT::nFound

Number of valid matches within the measZ vector (less or equal to its size).

int opentl::core::cvdata::VisContourSamplePts::VisContourSamplePts::CPOINT::partIdx

id of the link this point belongs to.

math::Vector2 opentl::core::cvdata::VisContourSamplePts::VisContourSamplePts::CPOINT::sp

Warped (2D) position.