00001 00007 #ifndef P_OBJECT_3D_HH 00008 #define P_OBJECT_3D_HH 00009 00010 //#include <opencv/cv.h> 00011 #include <opencv2/opencv.hpp> 00012 #include <map> 00013 #include <blort/Recognizer3D/PNamespace.hh> 00014 #include <blort/Recognizer3D/Array.hh> 00015 #include <blort/Recognizer3D/PoseCv.hh> 00016 #include <blort/Recognizer3D/CodebookEntry.hh> 00017 #include <blort/Recognizer3D/SPolygon.hh> 00018 00019 namespace P 00020 { 00021 00022 00023 class Object3D 00024 { 00025 public: 00026 unsigned id; 00027 static unsigned idcnt; 00028 00029 Array<CodebookEntry *> codebook; 00030 00031 double conf; //confidence value [0...1] 00032 double err; //reprojection error [0...Def::DO_RANSAC_INL_DIST] 00033 00034 PoseCv pose; 00035 SPolygon contour; 00036 00037 Object3D(); 00038 ~Object3D(); 00039 }; 00040 00041 00042 void DeleteObjects3D(Array<Object3D*> &objects); 00043 00044 00045 /*********************** INLINE METHODES **************************/ 00046 00047 00048 00049 } 00050 00051 #endif 00052