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add getter for rgb

release/4.3a0
John Lambert 2021-01-06 15:48:49 -05:00 committed by GitHub
parent ecb2226345
commit 758ece7238
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gtsam/slam/dataset.h
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@ -226,6 +226,9 @@ struct SfmTrack {
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
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 {
return measurements.size(); return measurements.size();