97 lines
4.2 KiB
Text
97 lines
4.2 KiB
Text
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/**
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* @file registration.h
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* @brife register two scans.
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* This class register two scans with respect to the matched features.
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* It determines the transformation matrix.
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* @author HamidReza Houshiar. Jacobs University Bremen gGmbH, Germany.
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* @date Date: 2012/05/30 1:00
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*/
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#ifndef REGISTRATION_H_
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#define REGISTRATION_H_
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#include "fbr_global.h"
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#include "slam6d/icp6Dquat.h"
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using namespace std;
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namespace fbr{
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/**
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* @class registration : registers two scnas
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* @param minDistance threshold for min distance between the each three points for registration process
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* @param minError threshold for min error after transformation of a point from second coordinate to first to determin the inliers
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* @param minInlier threshold fir min inlier to consider the align as positive
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* @param rMethod registration Method
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* @param bAlign best alignment
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* @param bError error of registration with bAlign
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* @param bErrorIndex error index of registration with bAlign
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*/
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class registration{
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unsigned int minDistance;
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double minError;
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unsigned int minInlier;
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registration_method rMethod;
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double bestAlign[16];
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double bestError;
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unsigned int bestErrorIndex;
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/**
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* getCoord : get 3D coordinate of query scan and train scan for each match
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* @param fKeypoints vector of KeyPoints from query (first) scan
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* @param sKeypoints vector of KeyPoints from train (second) scan
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* @param matches vector<DMatch> holding found matches
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* @param fPMap Mat containing the 3D coordinate of each match from query scan
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* @param sPMap Mat containing the 3D coordinate of each match from train scan
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* @param idx index of the match
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* @param cq Point3f for returning the 3D coordinate of query scan
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* @param ct Point3f for returning the 3D coordinate of train scan
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* @return 1 on success 0 on failure
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*/
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int getCoord( vector<cv::KeyPoint> fKeypoints, vector<cv::KeyPoint> sKeypoints, vector<cv::DMatch> matches, cv::Mat fPMap, cv::Mat sPMap, int idx, cv::Point3f& cq, cv::Point3f& ct);
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/**
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* pointToArray : convert 3D point3f to double array
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* @param c 3D point whith Point3f type
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* @param cd returning 3d point as double array
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*/
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void pointToArray(cv::Point3f c, double* cd);
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/**
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* coordTransform : transform a point with the align
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* @param p input train 3D point
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* @param align input transformation matrix
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* @return Point3f trasformed 3D point
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*/
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cv::Point3f coordTransform(cv::Point3f p, double* align);
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/**
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* findAlign : find the best align
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* @param fPMap input Mat wich contains the 3D coordinates of each pixel of first panorama image
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* @param fKeypoints vector<KeyPoints> containing the features of first panorama image
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* @param sPMap input Mat wich contains the 3D coordinates of each pixel of second panorama image
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* @param sKeypoints vector<KeyPoints> containing the features of second panorama image
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* @param matches vector<DMatches> containing the matched features of both images
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*/
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int findAlign(unsigned int i, unsigned int j, unsigned int k, cv::Mat fPMap, vector<cv::KeyPoint> fKeypoints, cv::Mat sPMap, vector<cv::KeyPoint> sKeypoints, vector<cv::DMatch> matches);
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public:
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registration();
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registration(unsigned int minD, double minE, unsigned int minI, registration_method method);
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/**
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* findRegistration : find the transformation matrix between two scans
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* @param fPMap first panorama map which is 3D points coresponding to fist panorama image
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* @param fKeypoints keypoints from the first scan
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* @param sPMap second panorama map which is 3D points coresponding to second panorama image
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* @param sKeypoints keypoints from the second scan
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* @param matches matched keypoints from first to second scan
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*/
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void findRegistration(cv::Mat fPMap, vector<cv::KeyPoint> fKeypoints, cv::Mat sPMap, vector<cv::KeyPoint> sKeypoints, vector<cv::DMatch> matches);
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unsigned int getMinDistance();
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double getMinError();
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unsigned int getMinInlier();
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registration_method getRegistrationMethod();
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double * getBestAlign();
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double getBestError();
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unsigned int getBestErrorIndex();
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void getDescription();
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};
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}
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#endif /* REGISTRATION_H_ */
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