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00024 #ifndef RGBDTOOLS_KEYFRAME_ASSOCIATION_H
00025 #define RGBDTOOLS_KEYFRAME_ASSOCIATION_H
00026
00027 #include <Eigen/StdVector>
00028 #include <opencv2/features2d/features2d.hpp>
00029
00030 #include "rgbdtools/types.h"
00031
00032 namespace rgbdtools {
00033
00043 class KeyframeAssociation
00044 {
00045 public:
00046
00053 enum Type {VO, RANSAC, ODOMETRY, LANDMARKS};
00054
00055 int kf_idx_a;
00056 int kf_idx_b;
00057
00058 Type type;
00059
00060 std::vector<cv::DMatch> matches;
00061
00069 AffineTransform a2b;
00070 };
00071
00072 typedef Eigen::aligned_allocator<KeyframeAssociation> KeyframeAssociationAllocator;
00073 typedef std::vector<KeyframeAssociation, KeyframeAssociationAllocator> KeyframeAssociationVector;
00074
00075 }
00076
00077 #endif // RGBDTOOLS_KEYFRAME_ASSOCIATION_H