cluster.cpp
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00001 #include "cluster.h"
00002 #include "tools.h"
00003 
00004 using namespace tools;
00005 
00006 namespace slam
00007 {
00008   Cluster::Cluster() : id_(-1){}
00009 
00010   Cluster::Cluster(int id, int frame_id, tf::Transform camera_pose, vector<cv::KeyPoint> kp_l, vector<cv::KeyPoint> kp_r, cv::Mat orb_desc, cv::Mat sift_desc, vector<cv::Point3f> points) :
00011                   id_(id), frame_id_(frame_id), camera_pose_(camera_pose), kp_l_(kp_l), kp_r_(kp_r), orb_desc_(orb_desc), sift_desc_(sift_desc), points_(points){}
00012 
00013   vector<cv::Point3f> Cluster::getWorldPoints()
00014   {
00015     vector<cv::Point3f> out;
00016     for (uint i=0; i<points_.size(); i++)
00017     {
00018       cv::Point3f p = Tools::transformPoint(points_[i], camera_pose_);
00019       out.push_back(p);
00020     }
00021 
00022     return out;
00023   }
00024 }


stereo_slam
Author(s): Pep Lluis Negre
autogenerated on Thu Jun 6 2019 21:40:57