mirror of
https://github.com/introlab/rtabmap.git
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25c2a9f07e
git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@86 f169173b-cf89-36c8-b27e-44dbe73f0c83
104 lines
3.9 KiB
C++
104 lines
3.9 KiB
C++
/*
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* Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
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*
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* This file is part of RTAB-Map.
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*
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* RTAB-Map is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* RTAB-Map is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with RTAB-Map. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef VERIFYHYPOTHESES_H_
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#define VERIFYHYPOTHESES_H_
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#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
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#include <list>
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#include "rtabmap/core/Parameters.h"
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#include "utilite/UEventsHandler.h"
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#include <map>
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#include <opencv2/core/core.hpp>
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#include <opencv2/features2d/features2d.hpp>
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namespace rtabmap
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{
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class Signature;
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// return always true, i.e, there is no verification
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class RTABMAP_EXP HypVerificator
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{
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public:
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HypVerificator(const ParametersMap & parameters = ParametersMap());
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virtual ~HypVerificator() {}
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virtual bool verify(const Signature * ref, const Signature * hyp);
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virtual void parseParameters(const ParametersMap & parameters);
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};
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/////////////////////////
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// HypVerificatorSim
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/////////////////////////
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class HypVerificatorSim : public HypVerificator {
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public:
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HypVerificatorSim(const ParametersMap & parameters = ParametersMap());
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virtual ~HypVerificatorSim();
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virtual bool verify(const Signature * ref, const Signature * hyp);
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virtual void parseParameters(const ParametersMap & parameters);
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private:
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float _similarity;
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};
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/////////////////////////
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// HypVerificatorEpipolarGeo
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/////////////////////////
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class KeypointSignature;
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class RTABMAP_EXP HypVerificatorEpipolarGeo : public HypVerificator
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{
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public:
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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);
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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);
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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);
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static std::list<int> findSameIds(const std::multimap<int, cv::KeyPoint> & wordsA, const std::multimap<int, cv::KeyPoint> & wordsB);
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public:
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HypVerificatorEpipolarGeo(const ParametersMap & parameters = ParametersMap());
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virtual ~HypVerificatorEpipolarGeo();
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virtual bool verify(const Signature * ref, const Signature * hyp);
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virtual void parseParameters(const ParametersMap & parameters);
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int getTotalSimilarities(const std::multimap<int, cv::KeyPoint> & wordsA, const std::multimap<int, cv::KeyPoint> & wordsB);
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int getMatchCountMinAccepted() const {return _matchCountMinAccepted;}
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double getRansacParam1() const {return _ransacParam1;}
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double getRansacParam2() const {return _ransacParam2;}
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void setMatchCountMinAccepted(int matchCountMinAccepted) {_matchCountMinAccepted = matchCountMinAccepted;}
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void setRansacParam1(double ransacParam1) {_ransacParam1 = ransacParam1;}
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void setRansacParam2(double ransacParam2) {_ransacParam2 = ransacParam2;}
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private:
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bool doEpipolarGeometry(const KeypointSignature * ssA, const KeypointSignature * ssB);
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private:
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int _matchCountMinAccepted;
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double _ransacParam1;
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double _ransacParam2;
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};
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} // namespace rtabmap
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#endif /* VERIFYHYPOTHESES_H_ */
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