pe.h

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#ifndef _PE_H_
#define _PE_H_

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

namespace fc  = frame_common;

namespace pe
{
  class PoseEstimator
  {
  public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW // needed for 16B alignment

    enum MethodType
    {
      SFM = 0,
      PnP = 1,
      Stereo = 2
    };

    MethodType usedMethod;

    // true if we want to SVD polish the result
    bool polish;

    // all matches and inliers
    std::vector<cv::DMatch> matches; 
    std::vector<cv::DMatch> inliers; 

    int numRansac;
    
    int windowed;

    cv::Ptr<cv::DescriptorMatcher> matcher;
    int wx /*< Width of matching window.*/, wy /*< Height of matching window*/;

    PoseEstimator(int NRansac, bool LMpolish, double mind,
                  double maxidx, double maxidd);
    ~PoseEstimator() { }

    double minMatchDisp;

    double maxInlierXDist2, maxInlierDDist2;

    void setMatcher(const cv::Ptr<cv::DescriptorMatcher>& matcher);

    virtual int estimate(const fc::Frame& frame1, const fc::Frame& frame2,
                         const std::vector<cv::DMatch> &matches) = 0;

    virtual int estimate(const fc::Frame& frame1, const fc::Frame& frame2);

    // Helper function to perform polishing. (This was not being used anywhere?)
    //void doPolish(fc::Frame& f0, fc::Frame& f1);

    void setTestMode(bool mode);
    void setTestMatches(const std::vector<cv::DMatch>& matches)
    {
      assert(testMode==true);
      testMatches = matches;
    };

    MethodType getMethod() const {return usedMethod;};

    // transform
    Eigen::Matrix3d rot; 
    Eigen::Vector3d trans; 

  protected:
    void matchFrames(const fc::Frame& f0, const fc::Frame& f1, std::vector<cv::DMatch>& fwd_matches);
    
    bool testMode;
    std::vector<cv::DMatch> testMatches;

  };



} // ends namespace pe
#endif // _PE3D_H_