pe3d.h

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#ifndef _PE3D_H_
#define _PE3D_H_

#include <frame_common/frame.h>
#include <boost/shared_ptr.hpp>
#include <posest/pe.h>
#include <cv.h>
#include <cstdlib>
#include <math.h>

namespace fc  = frame_common;

namespace pe
{

class PoseEstimator3d : public PoseEstimator
{
public:
  using PoseEstimator::estimate;

  PoseEstimator3d(int NRansac, bool LMpolish, double mind,
                  double maxidx, double maxidd) : PoseEstimator(NRansac, LMpolish, mind, maxidx, maxidd)
  {
    usedMethod = Stereo;
  };
  ~PoseEstimator3d() { };

  // uses RANSAC to find best inlier count, optionally polishes the result
  // assumes frames are set up externally
  // second form uses reverse matches as well
  virtual int estimate(const fc::Frame& frame1, const fc::Frame& frame2,
                       const std::vector<cv::DMatch> &matches);
                       
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW // needed for 16B alignment
};

} // ends namespace pe
#endif // _PE3D_H_