moved rtabmap-ros-pkg project in this project

git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@52 f169173b-cf89-36c8-b27e-44dbe73f0c83
2026-09-02 09:30:25 +08:00 · 2011-06-05 14:45:39 +00:00
commit 2d73090f3a
338 changed files with 56859 additions and 0 deletions
--- a/corelib/src/VerifyHypotheses.h
+++ b/corelib/src/VerifyHypotheses.h
@@ -0,0 +1,140 @@
+/*
+ * Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
+ *
+ * This file is part of RTAB-Map.
+ *
+ * RTAB-Map is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * RTAB-Map is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with RTAB-Map.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef VERIFYHYPOTHESES_H_
+#define VERIFYHYPOTHESES_H_
+
+#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
+
+#include <list>
+#include "rtabmap/core/Parameters.h"
+#include "utilite/UEventsHandler.h"
+#include <map>
+#include <opencv2/core/core.hpp>
+#include <opencv2/features2d/features2d.hpp>
+
+namespace rtabmap
+{
+
+class Memory;
+
+class RTABMAP_EXP VerifyHypotheses
+{
+public:
+	virtual ~VerifyHypotheses() {}
+	virtual int verifyHypotheses(const std::list<int> & hypotheses, const Memory * mem) = 0;
+
+	int getStatus() {return _status;}
+	virtual void parseParameters(const ParametersMap & parameters);
+
+protected:
+	VerifyHypotheses(const ParametersMap & parameters = ParametersMap());
+	virtual void setStatus(int status) {_status = status;}
+
+private:
+	int _status;
+};
+
+
+/////////////////////////
+// VerifyHypothesesSimple
+/////////////////////////
+class VerifyHypothesesSimple : public VerifyHypotheses {
+public:
+	VerifyHypothesesSimple(const ParametersMap & parameters = ParametersMap());
+	virtual ~VerifyHypothesesSimple();
+	virtual int verifyHypotheses(const std::list<int> & hypotheses, const Memory * mem);
+	virtual void parseParameters(const ParametersMap & parameters);
+};
+
+
+/////////////////////////
+// VerifyHypothesesSignSeq
+/////////////////////////
+/*class VerifyHypothesesSignSeq : public VerifyHypotheses {
+public:
+	VerifyHypothesesSignSeq(const ParametersMap & parameters = ParametersMap());
+	virtual ~VerifyHypothesesSignSeq();
+	virtual int verifyHypotheses(const std::list<int> & hypotheses, const Memory * mem);
+	virtual void parseParameters(const ParametersMap & parameters);
+
+private:
+	std::map<int, int> _hypotheses;
+	int _seqLength;
+
+};*/
+
+
+
+/////////////////////////
+// VerifyHypothesesEpipolarGeo
+/////////////////////////
+class KeypointSignature;
+
+class RTABMAP_EXP VerifyHypothesesEpipolarGeo : public VerifyHypotheses
+{
+public:
+	enum STATUS
+	{
+		UNDEFINED,
+		ACCEPTED,
+		NO_HYPOTHESIS,
+		MEMORY_IS_NULL,
+		NOT_ENOUGH_MATCHING_PAIRS,
+		EPIPOLAR_CONSTRAINT_FAILED,
+		NULL_MATCHING_SURF_SIGNATURES,
+		FUNDAMENTAL_MATRIX_NOT_FOUND
+	};
+
+public:
+	static int findPairsOne(const std::multimap<int, cv::KeyPoint> & wordsA, const std::multimap<int, cv::KeyPoint> & wordsB, std::list<std::pair<cv::KeyPoint, cv::KeyPoint> > & pairs, std::list<int> & pairsId);
+	static int findPairsDirect(const std::multimap<int, cv::KeyPoint> & wordsA, const std::multimap<int, cv::KeyPoint> & wordsB, std::list<std::pair<cv::KeyPoint, cv::KeyPoint> > & pairs, std::list<int> & pairsId);
+	static int findPairsAll(const std::multimap<int, cv::KeyPoint> & wordsA, const std::multimap<int, cv::KeyPoint> & wordsB, std::list<std::pair<cv::KeyPoint, cv::KeyPoint> > & pairs, std::list<int> & pairsId);
+	static std::list<int> findSameIds(const std::multimap<int, cv::KeyPoint> & wordsA, const std::multimap<int, cv::KeyPoint> & wordsB);
+public:
+	VerifyHypothesesEpipolarGeo(const ParametersMap & parameters = ParametersMap());
+	virtual ~VerifyHypothesesEpipolarGeo();
+	virtual int verifyHypotheses(const std::list<int> & hypotheses, const Memory * mem);
+	virtual void parseParameters(const ParametersMap & parameters);
+
+	int getTotalSimilarities(const std::multimap<int, cv::KeyPoint> & wordsA, const std::multimap<int, cv::KeyPoint> & wordsB);
+
+	int getMatchCountMinAccepted() const {return _matchCountMinAccepted;}
+	double getRansacParam1() const {return _ransacParam1;}
+	double getRansacParam2() const {return _ransacParam2;}
+
+	void setMatchCountMinAccepted(int matchCountMinAccepted) {_matchCountMinAccepted = matchCountMinAccepted;}
+	void setRansacParam1(double ransacParam1) {_ransacParam1 = ransacParam1;}
+	void setRansacParam2(double ransacParam2) {_ransacParam2 = ransacParam2;}
+
+protected:
+	virtual void setStatus(int status);
+
+private:
+	bool doEpipolarGeometry(const KeypointSignature * ssA, const KeypointSignature * ssB);
+
+private:
+	int _matchCountMinAccepted;
+	double _ransacParam1;
+	double _ransacParam2;
+};
+
+} // namespace rtabmap
+
+#endif /* VERIFYHYPOTHESES_H_ */