measurement.h

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#ifndef measurement_h_
#define measurement_h_
 
#include "ed/types.h"
#include "ed/mask.h"
#include "ed/rgbd_data.h"
 
namespace ed
{
 
class Measurement
{
 
public:
 
    Measurement();
 
    Measurement(rgbd::ImageConstPtr image, const ImageMask& image_mask, const geo::Pose3D& sensor_pose);
 
    Measurement(const RGBDData& rgbd_data, const PointCloudMaskPtr& mask, unsigned int seq = 0);
 
    const geo::Pose3D& sensorPose() const { return rgbd_data_.sensor_pose; }
    rgbd::ImageConstPtr image() const { return rgbd_data_.image; }
    PointCloudMaskConstPtr mask() const { return mask_; }
    const ImageMask& imageMask() const { return image_mask_; }
    double timestamp() const { return timestamp_; }
 
protected:
 
    RGBDData rgbd_data_;
    PointCloudMaskPtr mask_;
    ImageMask image_mask_;
    double timestamp_;
    unsigned int seq_;
 
};
 
}
 
#endif