keyframe_association.h
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00001 
00024 #ifndef CCNY_RGBD_KEYFRAME_ASSOCIATION_H
00025 #define CCNY_RGBD_KEYFRAME_ASSOCIATION_H
00026 
00027 #include <Eigen/StdVector>
00028 #include <opencv2/features2d/features2d.hpp>
00029 
00030 namespace ccny_rgbd {
00031  
00041 class KeyframeAssociation
00042 {
00043   public:
00044  
00051     enum Type {VO, RANSAC, ODOMETRY};  
00052     
00053     int kf_idx_a; 
00054     int kf_idx_b; 
00055     
00056     Type type;    
00057     
00058     std::vector<cv::DMatch> matches; 
00059     
00067     tf::Transform a2b;               
00068 };
00069 
00070 typedef Eigen::aligned_allocator<KeyframeAssociation> KeyframeAssociationAllocator;
00071 typedef std::vector<KeyframeAssociation, KeyframeAssociationAllocator> KeyframeAssociationVector;
00072 
00073 } //namespace ccny_rgbd
00074 
00075 #endif // CCNY_RGBD_KEYFRAME_ASSOCIATION_H
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ccny_rgbd
Author(s): Ivan Dryanovski
autogenerated on Fri Apr 12 2013 20:38:48