Image Component Library (ICL)
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Defines
RansacBasedPoseEstimator.h
Go to the documentation of this file.
00001 /********************************************************************
00002 **                Image Component Library (ICL)                    **
00003 **                                                                 **
00004 ** Copyright (C) 2006-2013 CITEC, University of Bielefeld          **
00005 **                         Neuroinformatics Group                  **
00006 ** Website: www.iclcv.org and                                      **
00007 **          http://opensource.cit-ec.de/projects/icl               **
00008 **                                                                 **
00009 ** File   : ICLGeom/src/ICLGeom/RansacBasedPoseEstimator.h         **
00010 ** Module : ICLGeom                                                **
00011 ** Authors: Christof Elbrechter                                    **
00012 **                                                                 **
00013 **                                                                 **
00014 ** GNU LESSER GENERAL PUBLIC LICENSE                               **
00015 ** This file may be used under the terms of the GNU Lesser General **
00016 ** Public License version 3.0 as published by the                  **
00017 **                                                                 **
00018 ** Free Software Foundation and appearing in the file LICENSE.LGPL **
00019 ** included in the packaging of this file.  Please review the      **
00020 ** following information to ensure the license requirements will   **
00021 ** be met: http://www.gnu.org/licenses/lgpl-3.0.txt                **
00022 **                                                                 **
00023 ** The development of this software was supported by the           **
00024 ** Excellence Cluster EXC 277 Cognitive Interaction Technology.    **
00025 ** The Excellence Cluster EXC 277 is a grant of the Deutsche       **
00026 ** Forschungsgemeinschaft (DFG) in the context of the German       **
00027 ** Excellence Initiative.                                          **
00028 **                                                                 **
00029 ********************************************************************/
00030 
00031 #pragma once
00032 
00033 #include <ICLUtils/CompatMacros.h>
00034 #include <ICLUtils/Uncopyable.h>
00035 #include <ICLGeom/GeomDefs.h>
00036 #include <ICLGeom/Camera.h>
00037 
00038 namespace icl{
00039   namespace geom{
00040     
00042     class ICLGeom_API RansacBasedPoseEstimator : public utils::Uncopyable{
00043       struct Data;  
00044       Data *m_data; 
00045       
00046       public:
00047       
00048       struct ICLGeom_API Result{
00049         Mat T;
00050         bool found;
00051         float error;
00052       };
00053       
00054       RansacBasedPoseEstimator(const geom::Camera &camera, 
00055                                 int iterations=200, 
00056                                 int minPoints=4,
00057                                 float maxErr=5,
00058                                 float minPointsForGoodModel=12);
00059 
00060       ~RansacBasedPoseEstimator();
00061       
00062       void setIterations(int iterations);
00063 
00064       void setMinPoints(int minPoints);
00065 
00066       void setMaxError(float maxError);
00067 
00068       void setMinPointsForGoodModel(float f);
00069       
00071       Result fit(const std::vector<utils::Point32f> &modelPoints, 
00072                  const std::vector<utils::Point32f> &imagePoints);
00073       
00075       Result fit(const std::vector<geom::Vec> &modelPoints, 
00076                  const std::vector<utils::Point32f> &imagePoints);
00077 
00078 
00080       std::vector<float> fit_coplanar(const std::vector<std::vector<float> > &pts);
00081 
00083       icl64f err_coplanar(const std::vector<float> &m, const std::vector<float> &p);
00084 
00085 
00086     };
00087   }
00088 }
00089 
00090 
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Defines