Go to the documentation of this file.00001 #ifndef MAPSTITCH_H
00002 #define MAPSTITCH_H
00003
00004 #include <stdio.h>
00005 #include <math.h>
00006 #include <opencv/cv.h>
00007 #include "ros/ros.h"
00008 #include "ros/console.h"
00009 using namespace cv;
00010 using namespace std;
00011
00012 class StitchedMap
00013 {
00014 public:
00015 StitchedMap(Mat &img1, Mat &img2,int max_trans,
00016 int max_rotation,float max_pairwise_distance,
00017 cv::Mat oldTransform);
00018 ~StitchedMap();
00019 bool works;
00020 float mid_distance;
00021 Mat get_debug();
00022 Mat get_stitch();
00023 Mat H;
00024 Mat image1, image2,
00025 dscv1, dscv2;
00026 vector<KeyPoint> kpv1,kpv2;
00027 vector<KeyPoint> fil1,fil2;
00028 vector<Point2f> coord1,coord2;
00029 vector<DMatch> matches;
00030 vector<Rect> rects1,rects2,rects3 ;
00031 double rotation,transx,transy,scalex,scaley;
00032
00033 cv::Mat cur_trans;
00034
00035 };
00036
00037 #endif // MAPSTITCH_H