FernPoseEstimator.h
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00001 /*
00002  * This file is part of ALVAR, A Library for Virtual and Augmented Reality.
00003  *
00004  * Copyright 2007-2012 VTT Technical Research Centre of Finland
00005  *
00006  * Contact: VTT Augmented Reality Team <alvar.info@vtt.fi>
00007  *          <http://www.vtt.fi/multimedia/alvar.html>
00008  *
00009  * ALVAR is free software; you can redistribute it and/or modify it under the
00010  * terms of the GNU Lesser General Public License as published by the Free
00011  * Software Foundation; either version 2.1 of the License, or (at your option)
00012  * any later version.
00013  *
00014  * This library is distributed in the hope that it will be useful, but WITHOUT
00015  * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
00016  * FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License
00017  * for more details.
00018  *
00019  * You should have received a copy of the GNU Lesser General Public License
00020  * along with ALVAR; if not, see
00021  * <http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html>.
00022  */
00023 
00024 #ifndef FERNPOSEESTIMATOR_H
00025 #define FERNPOSEESTIMATOR_H
00026 
00034 #include <map>
00035 #include <vector>
00036 
00037 #include "cv.h"
00038 
00039 #include "Pose.h"
00040 #include "Camera.h"
00041 #include "EC.h"
00042 
00043 namespace alvar
00044 {
00045 
00049 class ALVAR_EXPORT FernPoseEstimator
00050 {
00051         
00052 public:
00053         FernPoseEstimator();
00054     ~FernPoseEstimator();
00055 
00056     Pose pose() const;
00057     Camera camera() const;
00058 
00059     bool setCalibration(const std::string &filename, int width, int height);
00060     void setResolution(int width, int height);
00061         
00062     typedef std::vector<CvPoint2D64f> ImagePointVector;
00063     typedef std::vector<CvPoint3D64f> ModelPointVector;
00064     typedef std::map<int, alvar::ExternalContainer> ExternalContainerMap;
00065     void calculateFromPointCorrespondences(ModelPointVector &mpts, ImagePointVector &ipts);
00066     void updateFromTrackedPoints(ExternalContainerMap &container);
00067     void extractPlaneCoordinates(ExternalContainerMap &container);
00068 
00069 private:
00070         Pose mPose;
00071         Camera mCamera;
00072         CameraEC mCameraEC;
00073 };
00074 
00075 } // namespace alvar
00076 
00077 #endif


ar_track_alvar
Author(s): Scott Niekum
autogenerated on Thu Feb 16 2017 03:23:02