mapstitch.h
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00001 #ifndef MAPSTITCH_H
00002 #define MAPSTITCH_H
00003 
00004 #include <stdio.h>
00005 #include <math.h>
00006 #include <opencv/cv.h>
00007 #include "ros/ros.h"
00008 #include "ros/console.h"
00009 using namespace cv;
00010 using namespace std;
00011 
00012 class StitchedMap
00013 {
00014 public:
00015   StitchedMap(Mat &img1, Mat &img2,int max_trans,
00016               int max_rotation,float max_pairwise_distance,
00017               cv::Mat oldTransform);
00018   ~StitchedMap();
00019   bool works;
00020   float mid_distance;
00021   Mat get_debug();
00022   Mat get_stitch();
00023   Mat H; // transformation matrix
00024   Mat image1, image2,
00025       dscv1, dscv2;
00026   vector<KeyPoint> kpv1,kpv2;
00027   vector<KeyPoint> fil1,fil2;
00028   vector<Point2f>  coord1,coord2;
00029   vector<DMatch>   matches;
00030   vector<Rect> rects1,rects2,rects3 ;
00031   double rotation,transx,transy,scalex,scaley;
00032 
00033   cv::Mat cur_trans;
00034 
00035 };
00036 
00037 #endif // MAPSTITCH_H


map_merger
Author(s): Peter Kohout , Torsten Andre
autogenerated on Thu Jun 6 2019 20:59:50