RegistrationVis.h
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00001 /*
00002 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
00003 All rights reserved.
00004 
00005 Redistribution and use in source and binary forms, with or without
00006 modification, are permitted provided that the following conditions are met:
00007     * Redistributions of source code must retain the above copyright
00008       notice, this list of conditions and the following disclaimer.
00009     * Redistributions in binary form must reproduce the above copyright
00010       notice, this list of conditions and the following disclaimer in the
00011       documentation and/or other materials provided with the distribution.
00012     * Neither the name of the Universite de Sherbrooke nor the
00013       names of its contributors may be used to endorse or promote products
00014       derived from this software without specific prior written permission.
00015 
00016 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00017 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00018 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00019 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
00020 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00021 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00022 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00023 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00024 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00025 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00026 */
00027 
00028 #ifndef REGISTRATIONVIS_H_
00029 #define REGISTRATIONVIS_H_
00030 
00031 #include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
00032 
00033 #include <rtabmap/core/Registration.h>
00034 #include <rtabmap/core/Signature.h>
00035 
00036 namespace rtabmap {
00037 
00038 class Feature2D;
00039 
00040 // Visual registration
00041 class RTABMAP_EXP RegistrationVis : public Registration
00042 {
00043 public:
00044         // take ownership of child
00045         RegistrationVis(const ParametersMap & parameters = ParametersMap(), Registration * child = 0);
00046         virtual ~RegistrationVis();
00047 
00048         virtual void parseParameters(const ParametersMap & parameters);
00049 
00050         float getInlierDistance() const {return _inlierDistance;}
00051         int getIterations() const {return _iterations;}
00052         int getMinInliers() const {return _minInliers;}
00053 
00054         Feature2D * createFeatureDetector() const; // for convenience
00055 
00056 protected:
00057         virtual Transform computeTransformationImpl(
00058                         Signature & from,
00059                         Signature & to,
00060                         Transform guess,
00061                         RegistrationInfo & info) const;
00062 
00063         virtual bool isImageRequiredImpl() const {return true;}
00064         virtual bool canUseGuessImpl() const {return _correspondencesApproach != 0 || _guessWinSize>0;}
00065         virtual int getMinVisualCorrespondencesImpl() const {return _minInliers;}
00066 
00067 private:
00068         int _minInliers;
00069         float _inlierDistance;
00070         int _iterations;
00071         int _refineIterations;
00072         float _epipolarGeometryVar;
00073         int _estimationType;
00074         bool _forwardEstimateOnly;
00075         float _PnPReprojError;
00076         int _PnPFlags;
00077         int _PnPRefineIterations;
00078         int _correspondencesApproach;
00079         int _flowWinSize;
00080         int _flowIterations;
00081         float _flowEps;
00082         int _flowMaxLevel;
00083         float _nndr;
00084         int _guessWinSize;
00085         bool _guessMatchToProjection;
00086         int _bundleAdjustment;
00087         bool _depthAsMask;
00088 
00089         ParametersMap _featureParameters;
00090         ParametersMap _bundleParameters;
00091 };
00092 
00093 }
00094 
00095 #endif /* REGISTRATION_H_ */


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jun 6 2019 21:59:21