CvHomography.h
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00001 /*******************************************************************************
00002  *  CvHomography.h
00003  *
00004  *  (C) 2007 AG Aktives Sehen <agas@uni-koblenz.de>
00005  *           Universitaet Koblenz-Landau
00006  *******************************************************************************/
00007 
00008 #ifndef CvHomography_H
00009 #define CvHomography_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 
00023 class CvHomography
00024 {
00025   public:
00026 
00028     CvHomography( std::vector< KeyPoint >* keyPoints1, std::vector< KeyPoint >* keyPoints2, std::list< KeyPointMatch >& matches );
00029 
00031     ~CvHomography();
00032 
00033     bool computeHomography();
00034 
00035     void eliminateBadMatches();
00036 
00038     std::list< KeyPointMatch > getMatches() { return m_Matches; }
00039 
00040     Homography getHomography() { return m_Homography; }
00041 
00042   private:
00043 
00044     Homography m_Homography;
00045 
00046     std::vector< KeyPoint >* m_KeyPoints1;
00047     std::vector< KeyPoint >* m_KeyPoints2;
00048 
00049     std::list< KeyPointMatch > m_Matches;
00050 
00051     bool m_Success;
00052 
00053     int m_MaxReprojectionError;
00054 };
00055 
00056 #endif


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