InterestPoint::InterestPoint(const InterestPoint& _point):
m_position(_point.getPosition()),
m_scale(_point.getScale()),
m_scaleLevel(_point.getScaleLevel())
{
if(_point.getDescriptor())
m_descriptor = _point.getDescriptor()->clone();
else
m_descriptor = 0;
}
InterestPointRos toRos (const InterestPoint& pt)
{
InterestPointRos m;
m.pose.x = pt.getPosition().x;
m.pose.y = pt.getPosition().y;
m.pose.theta = pt.getPosition().theta;
m.support_points.reserve(pt.getSupport().size());
BOOST_FOREACH (const Point2D& p, pt.getSupport())
m.support_points.push_back(toPoint(p));
m.scale = pt.getScale();
m.scale_level = pt.getScaleLevel();
m.descriptor = toRos(pt.getDescriptor());
return m;
}