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//
// 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
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