pose_3d.hpp

[詳解]

//




//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.




//




//  By downloading, copying, installing or using the software you agree to this license.




//  If you do not agree to this license, do not download, install,




//  copy or use the software.




//




//




//                          License Agreement




//                For Open Source Computer Vision Library




//




// Copyright (C) 2014, OpenCV Foundation, all rights reserved.




// Third party copyrights are property of their respective owners.




//




// Redistribution and use in source and binary forms, with or without modification,




// are permitted provided that the following conditions are met:




//




//   * Redistribution's of source code must retain the above copyright notice,




//     this list of conditions and the following disclaimer.




//




//   * Redistribution's in binary form must reproduce the above copyright notice,




//     this list of conditions and the following disclaimer in the documentation




//     and/or other materials provided with the distribution.




//




//   * The name of the copyright holders may not be used to endorse or promote products




//     derived from this software without specific prior written permission.




//




// This software is provided by the copyright holders and contributors "as is" and




// any express or implied warranties, including, but not limited to, the implied




// warranties of merchantability and fitness for a particular purpose are disclaimed.




// In no event shall the Intel Corporation or contributors be liable for any direct,




// indirect, incidental, special, exemplary, or consequential damages




// (including, but not limited to, procurement of substitute goods or services;




// loss of use, data, or profits; or business interruption) however caused




// and on any theory of liability, whether in contract, strict liability,




// or tort (including negligence or otherwise) arising in any way out of




// the use of this software, even if advised of the possibility of such damage.








#ifndef __OPENCV_SURFACE_MATCHING_POSE3D_HPP__




#define __OPENCV_SURFACE_MATCHING_POSE3D_HPP__








#include "opencv2/core/cvstd.hpp"
// cv::Ptr




#include <vector>




#include <string>








namespace

cv



{



namespace
ppf_match_3d


{











class
Pose3D;



typedef
Ptr<Pose3D> Pose3DPtr;







class
PoseCluster3D;



typedef
Ptr<PoseCluster3D> PoseCluster3DPtr;







class
CV_EXPORTS_W
Pose3D



{



public:



CV_WRAP
Pose3D()



{



alpha=0;



modelIndex=0;



numVotes=0;



residual = 0;







pose = Matx44d::all(0);



}







CV_WRAP
Pose3D(double
Alpha,
size_t
ModelIndex=0,
size_t
NumVotes=0)



{



alpha = Alpha;



modelIndex = ModelIndex;



numVotes = NumVotes;



residual=0;







pose = Matx44d::all(0);



}







CV_WRAP
void
updatePose(Matx44d& NewPose);







CV_WRAP
void
updatePose(Matx33d& NewR,
Vec3d& NewT);







CV_WRAP
void
updatePoseQuat(Vec4d& Q,
Vec3d& NewT);







CV_WRAP
void
appendPose(Matx44d& IncrementalPose);



CV_WRAP
void
printPose();







Pose3DPtr
clone();







int
writePose(FILE* f);



int
readPose(FILE* f);



int
writePose(const
std::string& FileName);



int
readPose(const
std::string& FileName);







virtual
~Pose3D() {}







CV_PROP
double
alpha, residual;



CV_PROP
size_t
modelIndex, numVotes;



CV_PROP
Matx44d
pose;



CV_PROP
double
angle;



CV_PROP
Vec3d
t;



CV_PROP
Vec4d
q;


};







class
CV_EXPORTS_W
PoseCluster3D



{



public:



PoseCluster3D()



{



numVotes=0;



id=0;



}







PoseCluster3D(Pose3DPtr
newPose)



{



poseList.clear();



poseList.push_back(newPose);



numVotes=newPose->numVotes;



id=0;



}







PoseCluster3D(Pose3DPtr
newPose,
int
newId)



{



poseList.push_back(newPose);



this->numVotes = newPose->numVotes;



this->id
= newId;



}







virtual
~PoseCluster3D()



{}







void
addPose(Pose3DPtr
newPose);







int
writePoseCluster(FILE* f);



int
readPoseCluster(FILE* f);



int
writePoseCluster(const
std::string& FileName);



int
readPoseCluster(const
std::string& FileName);







std::vector<Pose3DPtr> poseList;



size_t
numVotes;



int
id;


};










}
// namespace ppf_match_3d



}
// namespace cv








#endif