CvFundamentalMat.h
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00001 /*******************************************************************************
00002  *  CvFundamentalMat.h
00003  *
00004  *  (C) 2007 AG Aktives Sehen <agas@uni-koblenz.de>
00005  *           Universitaet Koblenz-Landau
00006  *******************************************************************************/
00007 
00008 #ifndef CvFundamentalMat_H
00009 #define CvFundamentalMat_H
00010 
00011 #include <vector>
00012 #include <list>
00013 #include <ros/ros.h>
00014 #include "../KeyPointExtraction/KeyPointMatch.h"
00015 #include "../KeyPointExtraction/KeyPoint.h"
00016 // #include "Workers/Math/Homography.h"
00017 #include <cv.h>
00018 
00024 class CvFundamentalMat
00025 {
00026   public:
00027 
00029     CvFundamentalMat( std::vector< KeyPoint >* keyPoints1, std::vector< KeyPoint >* keyPoints2, std::list< KeyPointMatch >& matches );
00030 
00032     ~CvFundamentalMat();
00033 
00034     bool computeFundamentalMat();
00035 
00037     std::list< KeyPointMatch > getMatches() { return m_Matches; }
00038 
00039     void eliminateBadMatches();
00040 
00041   private:
00042 
00043     std::vector< KeyPoint >* m_KeyPoints1;
00044     std::vector< KeyPoint >* m_KeyPoints2;
00045 
00046     std::list< KeyPointMatch > m_Matches;
00047 
00048     int m_Success;
00049 
00050     int m_MaxReprojectionError;
00051 
00052     CvMat m_FundMatCv;
00053 
00054     CvMat m_Points1CvMat;
00055     CvMat m_Points2CvMat;
00056 };
00057 
00058 #endif


or_libs
Author(s): Viktor Seib
autogenerated on Tue Jan 7 2014 11:24:03