pe2d.h

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#ifndef _PE2D_H
#define _PE2D_H

#include <posest/pe.h>

namespace pe
{

class PoseEstimator2d : public PoseEstimator
{
public:

  EIGEN_MAKE_ALIGNED_OPERATOR_NEW // needed for 16B alignment

  using PoseEstimator::estimate;

  PoseEstimator2d(int NRansac = 10000) :
    PoseEstimator(NRansac, false, 0, 0, 0)
  {
    usedMethod = SFM;
    initialized_ = false;
  };
  ~PoseEstimator2d() {};

  virtual int estimate(const fc::Frame& frame1, const fc::Frame& frame2);

  virtual int estimate(const fc::Frame& frame1, const fc::Frame& frame2,
                       const std::vector<cv::DMatch> &matches);

protected:
  void setPose(const cv::Mat& rvec, const cv::Mat& tvec);

  bool initialized_;

};
};

#endif //_PE2D_H