pe.h
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00034 
00035 
00036 #ifndef _PE_H_
00037 #define _PE_H_
00038 
00039 #include <frame_common/frame.h>
00040 #include <boost/shared_ptr.hpp>
00041 #include <cv.h>
00042 #include <cstdlib>
00043 #include <math.h>
00044 
00045 namespace fc  = frame_common;
00046 
00047 namespace pe
00048 {
00050   class PoseEstimator
00051   {
00052   public:
00053     EIGEN_MAKE_ALIGNED_OPERATOR_NEW // needed for 16B alignment
00054 
00055     enum MethodType
00056     {
00057       SFM = 0,
00058       PnP = 1,
00059       Stereo = 2
00060     };
00061 
00062     MethodType usedMethod;
00063 
00064     // true if we want to SVD polish the result
00065     bool polish;
00066 
00067     // all matches and inliers
00068     std::vector<cv::DMatch> matches; 
00069     std::vector<cv::DMatch> inliers; 
00070 
00072     int numRansac;
00073     
00075     int windowed;
00076 
00078     cv::Ptr<cv::DescriptorMatcher> matcher;
00079     int wx /*< Width of matching window.*/, wy /*< Height of matching window*/;
00080 
00081     PoseEstimator(int NRansac, bool LMpolish, double mind,
00082                   double maxidx, double maxidd);
00083     ~PoseEstimator() { }
00084 
00086     double minMatchDisp;
00087 
00089     double maxInlierXDist2, maxInlierDDist2;
00090 
00092     void setMatcher(const cv::Ptr<cv::DescriptorMatcher>& matcher);
00093 
00097     virtual int estimate(const fc::Frame& frame1, const fc::Frame& frame2,
00098                          const std::vector<cv::DMatch> &matches) = 0;
00099 
00103     virtual int estimate(const fc::Frame& frame1, const fc::Frame& frame2);
00104 
00105     // Helper function to perform polishing. (This was not being used anywhere?)
00106     //void doPolish(fc::Frame& f0, fc::Frame& f1);
00107 
00108     void setTestMode(bool mode);
00109     void setTestMatches(const std::vector<cv::DMatch>& matches)
00110     {
00111       assert(testMode==true);
00112       testMatches = matches;
00113     };
00114 
00116     MethodType getMethod() const {return usedMethod;};
00117 
00118     // transform
00119     Eigen::Matrix3d rot; 
00120     Eigen::Vector3d trans; 
00121 
00122   protected:
00123     void matchFrames(const fc::Frame& f0, const fc::Frame& f1, std::vector<cv::DMatch>& fwd_matches);
00124     
00125     bool testMode;
00126     std::vector<cv::DMatch> testMatches;
00127 
00128   };
00129 
00130 
00131 
00132 } // ends namespace pe
00133 #endif // _PE3D_H_


posest
Author(s): Kurt Konolige
autogenerated on Thu Jan 2 2014 12:12:17