Relocaliser.h
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00001 // -*- c++ -*- 
00002 // Copyright 2008 Isis Innovation Limited
00003 //
00004 // SmallBlurryImage-based relocaliser
00005 // 
00006 // Each KF stores a small, blurred version of itself;
00007 // Just compare a small, blurred version of the input frame to all the KFs,
00008 // choose the closest match, and then estimate a camera rotation by direct image
00009 // minimisation.
00010 
00011 #ifndef __RELOCALISER_H
00012 #define __RELOCALISER_H
00013 #include <TooN/se2.h>
00014 #include "ATANCamera.h"
00015 #include "SmallBlurryImage.h"
00016 
00017 #include "Map.h"
00018 
00019 
00020 class Relocaliser
00021 {
00022 public:
00023   Relocaliser(Map &map, ATANCamera &camera);
00024   bool AttemptRecovery(KeyFrame &k);
00025   SE3<> BestPose();
00026   
00027 protected:
00028   void ScoreKFs(KeyFrame &kCurrentF);
00029   Map &mMap;
00030   ATANCamera mCamera;
00031   int mnBest;
00032   double mdBestScore;
00033   SE2<> mse2;
00034   SE3<> mse3Best;
00035 
00036 };
00037 #endif
00038 
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00046 


tum_ardrone
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autogenerated on Sat Jun 8 2019 20:27:23