fixed vector size mismatch between matched and status vectors

camera_models/include/camodocal/sparse_graph/Transform.h

@@ -0,0 +1,38 @@
+#ifndef TRANSFORM_H
+#define TRANSFORM_H
+
+#include <boost/shared_ptr.hpp>
+#include <eigen3/Eigen/Dense>
+#include <stdint.h>
+
+namespace camodocal
+{
+
+class Transform
+{
+public:
+    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+    Transform();
+    Transform(const Eigen::Matrix4d& H);
+
+    Eigen::Quaterniond& rotation(void);
+    const Eigen::Quaterniond& rotation(void) const;
+    double* rotationData(void);
+    const double* const rotationData(void) const;
+
+    Eigen::Vector3d& translation(void);
+    const Eigen::Vector3d& translation(void) const;
+    double* translationData(void);
+    const double* const translationData(void) const;
+
+    Eigen::Matrix4d toMatrix(void) const;
+
+private:
+    Eigen::Quaterniond m_q;
+    Eigen::Vector3d m_t;
+};
+
+}
+
+#endif