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orca::Feature2d Class Reference [FeatureMap2d, FeatureMap2d, FeatureMap2d, FeatureMap2d] Generic 2D feature. More... List of all members. Detailed Description Generic 2D feature. A point feature with a heading. A basic x-y point feature. A line feature. Infinite lines are parameterised by (rho,alpha), which describes the vector from the origin which meets the line at 90deg: rho is the length of this vector, and alpha is the angle the vector makes with the x-axis (in (-pi,pi]). This information is augmented with info that describes the fact that the line is a finite segment, visible from one direction only. By definition, a line is visible iff the start appears to the right of the end. The documentation for this class was generated from the following file: featuremap2d.ice

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