26 lines
453 B
C++
26 lines
453 B
C++
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#pragma once
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#include <common_include.h>
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// Data structure definitions
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struct Frame {
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cv::Mat rgbImgCv;
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cv::Mat depthImgCv;
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std::vector<cv::KeyPoint> keypoints;
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cv::Mat descriptors;
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Eigen::Isometry3d pose = Eigen::Isometry3d::Identity();
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};
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struct MapPoint {
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Eigen::Vector3d position;
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cv::Mat descriptor;
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};
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struct FileInfo {
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double timeStamp;
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string fileName;
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};
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using Files = vector<FileInfo>;
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using AssociateList = tuple<Files, Files>; |