keyframe.h

Go to the documentation of this file.

#ifndef UCL_DRONE_KEYFRAME_H
#define UCL_DRONE_KEYFRAME_H
#define PCL_NO_PRECOMPILE

#include <ucl_drone/ucl_drone.h>

// vision
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/nonfree/features2d.hpp>
#include <opencv2/nonfree/nonfree.hpp>

/* Point Cloud library */
#include <pcl/common/common_headers.h>
#include <pcl/point_types.h>      // pcl::PointXYZRGB
#include <pcl_ros/point_cloud.h>  // pcl::PointCloud

#include <boost/shared_ptr.hpp>

/* ucl_drone */
#include <ucl_drone/PointXYZRGBSIFT.h>
#include <ucl_drone/Pose3D.h>

class KeyFrame
{
private:
  static std::vector< KeyFrame* > instances_list;

  int ID;                         
  std::vector< int > points;      
  ucl_drone::Pose3D pose;         
  cv::FlannBasedMatcher matcher;  
  cv::Mat descriptors;            

public:
  pcl::PointCloud< pcl::PointXYZRGBSIFT >::Ptr cloud;  // all keypoints of this keyframe

  KeyFrame();

  KeyFrame(ucl_drone::Pose3D& pose);

  ~KeyFrame();

  static KeyFrame* getKeyFrame(const int ID);

  static void resetList();

  void addPoints(pcl::PointCloud< pcl::PointXYZRGBSIFT >::Ptr& pointcloud,
                 std::vector< int >& map_idx_points);

  void addPoints(pcl::PointCloud< pcl::PointXYZRGBSIFT >::Ptr& pointcloud);

  int getID();

  int size();

  ucl_drone::Pose3D getPose();

  void getDescriptors(cv::Mat& descriptors);

  void convertDescriptors();

  void matchWithFrame(Frame& frame, std::vector< std::vector< int > >& idx_matching_points,
                      std::vector< cv::Point3f >& keyframe_matching_points,
                      std::vector< cv::Point2f >& frame_matching_points);
};

#endif /* UCL_DRONE_KEYFRAME_H */