Image Component Library (ICL)
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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