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