framepose.cpp

/**
 * \file framepose.cpp
 * \Author: Michele Marostica
 *  
 * Copyright (c) 2012, Michele Marostica (michelemaro@gmail.com)
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without 
 * modification, are permitted provided that the following conditions are met:
 *
 * 1 - Redistributions of source code must retain the above copyright notice, 
 * 	   this list of conditions and the following disclaimer.
 * 2 - Redistributions in binary form must reproduce the above copyright 
 *	   notice, this list of conditions and the following disclaimer in the
 *	   documentation and/or other materials provided with the distribution.
 * 
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
 * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 
 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR 
 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, 
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, 
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
 * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, 
 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR 
 * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF 
 * ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

#include "framepose.h"

namespace LCD {
    
    FramePose::FramePose(std::string framePath, cv::Vec3f &poseT, cv::Vec3f &poseR, unsigned int timestamp, bool isOnMap, int mapIndex) 
        : frame_path_(framePath), pose_T_(poseT), pose_R_(poseR), timestamp_(timestamp), is_on_map_(isOnMap), map_index_(mapIndex)
    {
    }

    FramePose::~FramePose()
    {

    }
    
    void FramePose::print()
    {
        std::cout << "frame_path_: " << frame_path_ << std::endl;
        std::cout << "timestamp_: " << timestamp_ << std::endl;
        std::cout << "is_on_map_: " << is_on_map_ << std::endl;
        std::cout << "map_index_: " << map_index_ << std::endl;
        std::cout << "pose_T_: (" << pose_T_[0] << ", " << pose_T_[1] << ", " << pose_T_[2] << ")" << std::endl;
    }


} // namespace LCD