Program Listing for File LineSegment2D.h

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#ifndef APRILTAGS_LINESEGMENT2D_H_
#define APRILTAGS_LINESEGMENT2D_H_

#include <cmath>

#include "apriltag_mit/AprilTags/Line2D.h"

namespace AprilTags {

class LineSegment2D {
 public:
  LineSegment2D(const cv::Point2f &p0, const cv::Point2f &p1);
  static LineSegment2D LsqFitXyw(const std::vector<cv::Point3f> &xyws);

  const cv::Point2f &p0() const { return p0_; }
  const cv::Point2f &p1() const { return p1_; }

 private:
  Line2D line_;
  cv::Point2f p0_, p1_;
};

}  // namespace

#endif  // APRILTAGS_GLINESEGMENT2D_H_