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