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Merge pull request #659 from borglab/fix/sfmtrack-color 

Adding default point color to `SfmTrack` to fix equality check
release/4.3a0
John Lambert 2021-01-07 11:45:38 -05:00 committed by GitHub
parent 745e2207a0 7daf01be3d
commit 442cc6d869
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1 changed files with 6 additions and 2 deletions
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8
gtsam/slam/dataset.h
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@ -218,12 +218,16 @@ typedef std::pair<size_t, size_t> SiftIndex;
/// Define the structure for the 3D points /// Define the structure for the 3D points
struct SfmTrack { struct SfmTrack {
SfmTrack(): p(0,0,0) {} SfmTrack(float r = 0, float g = 0, float b = 0): p(0,0,0), r(r), g(g), b(b) {}
SfmTrack(const gtsam::Point3& pt) : p(pt) {} SfmTrack(const gtsam::Point3& pt, float r = 0, float g = 0, float b = 0) : p(pt), r(r), g(g), b(b) {}
Point3 p; ///< 3D position of the point Point3 p; ///< 3D position of the point
float r, g, b; ///< RGB color of the 3D point float r, g, b; ///< RGB color of the 3D point
std::vector<SfmMeasurement> measurements; ///< The 2D image projections (id,(u,v)) std::vector<SfmMeasurement> measurements; ///< The 2D image projections (id,(u,v))
std::vector<SiftIndex> siftIndices; std::vector<SiftIndex> siftIndices;
/// Get RGB values describing 3d point
const Point3 rgb() const { return Point3(r, g, b); }
/// Total number of measurements in this track /// Total number of measurements in this track
size_t number_measurements() const { size_t number_measurements() const {