3dpcp/include/slam6d/fbr/fbr_global.h

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/**
* @file fbr_global.h
* @brief Globally used headers, functions, structures
* @author HamidReza Houshiar. Jacobs University Bremen gGmbH, Germany.
* @date 2012/05/9 14:00
*/
#ifndef FBR_GLOBAL_H_
#define FBR_GLOBAL_H_
#include <iostream>
#include <vector>
#include <fstream>
#include <opencv2/opencv.hpp>
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//for opencv 2.4
#if (CV_MAJOR_VERSION >= 2) && (CV_MINOR_VERSION >= 4)
#include <opencv2/nonfree/nonfree.hpp>
#endif
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#include <math.h>
#include <string>
#include "slam6d/io_types.h"
#include "slam6d/globals.icc"
using namespace std;
namespace fbr{
//Vertical angle of view of scanner
#define MAX_ANGLE 60.0
#define MIN_ANGLE -40.0
/**
* @enum projection_method
*/
enum projection_method{
EQUIRECTANGULAR,
CYLINDRICAL,
MERCATOR,
RECTILINEAR,
PANNINI,
STEREOGRAPHIC,
ZAXIS,
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CONIC
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};
/**
* @enum panorama_map_method
*/
enum panorama_map_method{
FARTHEST,
EXTENDED,
};
/**
* @enum feature_method
*/
enum feature_detector_method{
SIFT_DET,
SURF_DET,
ORB_DET,
FAST_DET,
STAR_DET,
};
enum feature_descriptor_method{
SIFT_DES,
SURF_DES,
ORB_DES,
};
/**
* @enum matching_method
*/
enum matcher_method{
BRUTEFORCE,
FLANN,
KNN,
RADIUS,
RATIO,
};
/**
* @enum registration_method
*/
enum registration_method{
ALL,
RANSAC,
DISABLE,
};
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/**
* @enum feature_filtration_method
*/
enum feature_filtration_method{
OCCLUSION,
STANDARD_DEVIATION,
DISABLE_FILTER,
};
/**
* @enum matching_filtration_method
*/
enum matching_filtration_method{
FUNDEMENTAL_MATRIX,
DISABLE_MATCHING_FILTER,
};
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//RANSAC iteration
#define RANSACITR 20000
//Inlier influence
#define iInfluence 0.5
string scanFormatToString(IOType format);
IOType stringToScanFormat(string format);
string projectionMethodToString(projection_method method);
projection_method stringToProjectionMethod(string method);
string panoramaMapMethodToString(panorama_map_method method);
panorama_map_method stringToPanoramaMapMethod(string method);
string featureDetectorMethodToString(feature_detector_method method);
feature_detector_method stringToFeatureDetectorMethod(string method);
string featureDescriptorMethodToString(feature_descriptor_method method);
feature_descriptor_method stringToFeatureDescriptorMethod(string method);
string matcherMethodToString(matcher_method method);
matcher_method stringToMatcherMethod(string method);
string registrationMethodToString(registration_method method);
registration_method stringToRegistrationMethod(string method);
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string featureFiltrationMethodToString(feature_filtration_method method);
feature_filtration_method stringToFeatureFiltrationMethod(string method);
string matchingFiltrationMethodToString(matching_filtration_method method);
matching_filtration_method stringToMatchingFiltrationMethod(string method);
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}
#endif /* FBR_GLOBAL_H_ */