exp_ndt_frame_proc.h

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#ifndef EXPNDTFRAMEPROC_HH
#define EXPNDTFRAMEPROC_HH

#include <ndt_feature_reg/ndt_frame.h>
#include <ndt_matcher_d2d_feature.h>
#include <opencv2/nonfree/features2d.hpp>
#include <opencv2/nonfree/nonfree.hpp>
#include <ndt_feature_reg/ndt_frame_proc.h>

namespace ndt_feature_reg
{
class ExpNDTFrameProc : public ndt_feature_reg::NDTFrameProc
{
public:

    using NDTFrameProc::pe;
    using NDTFrameProc::detector;
    using NDTFrameProc::extractor;
    using NDTFrameProc::img_scale;
    using NDTFrameProc::trim_factor;
    using NDTFrameProc::non_mean;
    using NDTFrameProc::frames;
    using NDTFrameProc::transformVector;
    
    typedef Eigen::Transform<double,3,Eigen::Affine,Eigen::ColMajor> EigenTransform;
   

    void trimNbFrames (size_t maxNbFrames);
    void addFrameIncremental (NDTFrame *f, bool skipMatching, bool ndtEstimateDI = false,
                              bool match_full = false, bool match_no_association = false);
    
    ExpNDTFrameProc(int nb_ransac, double max_inldist_xy, double max_inldist_z):NDTFrameProc(nb_ransac,max_inldist_xy,max_inldist_z) 
    {
    }
    
    virtual ~ExpNDTFrameProc()
    {
        for(size_t i =0; i<frames.size(); i++)
        {
            delete frames[i];
        }
        frames.clear();
    }
private:
    void detectKeypoints(NDTFrame *f) const;
    void calcDescriptors(NDTFrame *f) const;
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

};



} // namespace

#include <ndt_feature_reg/impl/exp_ndt_frame_proc.hpp>
#endif