/// <summary>
/// returns true if the given feature is visible
/// </summary>
/// <param name="feat"></param>
/// <returns></returns>
public bool featureVisible(Feature feat)
{
if (!((feat.get_successful_measurement_flag()) && (feat.get_feature_measurement_model().fully_initialised_flag)))
{
if (feat.get_feature_measurement_model().fully_initialised_flag)
{
reconstructFeaturePosition(feat);
int screen_x = 0;
int screen_y = 0;
projectFeature(feat, ref screen_x, ref screen_y);
if ((screen_x > 0) && (screen_y > 0) && (screen_x < image_width) && (screen_y < image_height))
{
Vector v = new Vector(2);
v[0] = screen_x;
v[1] = screen_y;
feat.set_h(v);
return(true);
}
else
{
return(false);
}
}
else
{
return(false);
}
}
else
{
return(true);
}
}
/// <summary>
/// Function to unite the bookeeping stuff for both
/// add_new_partially_initialised_feature() and add_new_known_feature()
/// </summary>
/// <param name="nf"></param>
public void add_new_feature_bookeeping(Feature nf)
{
feature_list.Add(nf);
next_free_label++; // Potential millenium-style bug when this overloads
// (hello if you're reading this in the year 3000)
nf.set_position_in_total_state_vector(total_state_size);
total_state_size += nf.get_feature_measurement_model().FEATURE_STATE_SIZE;
}