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Diffstat (limited to 'thirdparty1/linux/include/opencv2/surface_matching/pose_3d.hpp')
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1 files changed, 188 insertions, 0 deletions
diff --git a/thirdparty1/linux/include/opencv2/surface_matching/pose_3d.hpp b/thirdparty1/linux/include/opencv2/surface_matching/pose_3d.hpp new file mode 100644 index 0000000..cd9c4a4 --- /dev/null +++ b/thirdparty1/linux/include/opencv2/surface_matching/pose_3d.hpp @@ -0,0 +1,188 @@ +// +// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. +// +// By downloading, copying, installing or using the software you agree to this license. +// If you do not agree to this license, do not download, install, +// copy or use the software. +// +// +// License Agreement +// For Open Source Computer Vision Library +// +// Copyright (C) 2014, OpenCV Foundation, all rights reserved. +// Third party copyrights are property of their respective owners. +// +// Redistribution and use in source and binary forms, with or without modification, +// are permitted provided that the following conditions are met: +// +// * Redistribution's of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// * Redistribution's in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// +// * The name of the copyright holders may not be used to endorse or promote products +// derived from this software without specific prior written permission. +// +// This software is provided by the copyright holders and contributors "as is" and +// any express or implied warranties, including, but not limited to, the implied +// warranties of merchantability and fitness for a particular purpose are disclaimed. +// In no event shall the Intel Corporation or contributors be liable for any direct, +// indirect, incidental, special, exemplary, or consequential damages +// (including, but not limited to, procurement of substitute goods or services; +// loss of use, data, or profits; or business interruption) however caused +// and on any theory of liability, whether in contract, strict liability, +// or tort (including negligence or otherwise) arising in any way out of +// the use of this software, even if advised of the possibility of such damage. + +/** @file +@author Tolga Birdal <tbirdal AT gmail.com> +*/ + +#ifndef __OPENCV_SURFACE_MATCHING_POSE3D_HPP__ +#define __OPENCV_SURFACE_MATCHING_POSE3D_HPP__ + +#include "opencv2/core/cvstd.hpp" // cv::Ptr +#include <vector> +#include <string> + +namespace cv +{ +namespace ppf_match_3d +{ + +//! @addtogroup surface_matching +//! @{ + +class Pose3D; +typedef Ptr<Pose3D> Pose3DPtr; + +class PoseCluster3D; +typedef Ptr<PoseCluster3D> PoseCluster3DPtr; + +/** +* @brief Class, allowing the storage of a pose. The data structure stores both +* the quaternions and the matrix forms. It supports IO functionality together with +* various helper methods to work with poses +* +*/ +class CV_EXPORTS Pose3D +{ +public: + Pose3D() + { + alpha=0; + modelIndex=0; + numVotes=0; + residual = 0; + + for (int i=0; i<16; i++) + pose[i]=0; + } + + Pose3D(double Alpha, unsigned int ModelIndex=0, unsigned int NumVotes=0) + { + alpha = Alpha; + modelIndex = ModelIndex; + numVotes = NumVotes; + residual=0; + + for (int i=0; i<16; i++) + pose[i]=0; + } + + /** + * \brief Updates the pose with the new one + * \param [in] NewPose New pose to overwrite + */ + void updatePose(double NewPose[16]); + + /** + * \brief Updates the pose with the new one + */ + void updatePose(double NewR[9], double NewT[3]); + + /** + * \brief Updates the pose with the new one, but this time using quaternions to represent rotation + */ + void updatePoseQuat(double Q[4], double NewT[3]); + + /** + * \brief Left multiplies the existing pose in order to update the transformation + * \param [in] IncrementalPose New pose to apply + */ + void appendPose(double IncrementalPose[16]); + void printPose(); + + Pose3DPtr clone(); + + int writePose(FILE* f); + int readPose(FILE* f); + int writePose(const std::string& FileName); + int readPose(const std::string& FileName); + + virtual ~Pose3D() {} + + double alpha, residual; + unsigned int modelIndex; + unsigned int numVotes; + double pose[16], angle, t[3], q[4]; +}; + +/** +* @brief When multiple poses (see Pose3D) are grouped together (contribute to the same transformation) +* pose clusters occur. This class is a general container for such groups of poses. It is possible to store, +* load and perform IO on these poses. +*/ +class CV_EXPORTS PoseCluster3D +{ +public: + PoseCluster3D() + { + numVotes=0; + id=0; + } + + PoseCluster3D(Pose3DPtr newPose) + { + poseList.clear(); + poseList.push_back(newPose); + numVotes=newPose->numVotes; + id=0; + } + + PoseCluster3D(Pose3DPtr newPose, int newId) + { + poseList.push_back(newPose); + this->numVotes = newPose->numVotes; + this->id = newId; + } + + virtual ~PoseCluster3D() + {} + + /** + * \brief Adds a new pose to the cluster. The pose should be "close" to the mean poses + * in order to preserve the consistency + * \param [in] newPose Pose to add to the cluster + */ + void addPose(Pose3DPtr newPose); + + int writePoseCluster(FILE* f); + int readPoseCluster(FILE* f); + int writePoseCluster(const std::string& FileName); + int readPoseCluster(const std::string& FileName); + + std::vector<Pose3DPtr> poseList; + int numVotes; + int id; +}; + +//! @} + +} // namespace ppf_match_3d +} // namespace cv + +#endif + |