JAPCE/pcsegment.h at master · iras/JAPCE · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
#ifndef PCSEGMENT_H
#define PCSEGMENT_H

#include <vector>
#include <iostream>
#include <opencv2/core/core.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <camerashot.h>

using namespace std;


// Point Cloud Segment class.
class PCSegment
{

public:

    PCSegment (CameraShot *cs1, CameraShot *cs2);

    vector<cv::DMatch>  *getMatches (void);
    vector<cv::Point3d> *getVectorX (void);

    vector<cv::Point2f> *getPoints1 (void);
    vector<cv::Point2f> *getPoints2 (void);

    CameraShot *getCamShot1 (void);
    CameraShot *getCamShot2 (void);

    void squeezePointsVectorsOutOfMatches (void);

private:

    CameraShot *_cs1;
    CameraShot *_cs2;

    vector<cv::Point3d> _vectX;
    vector<cv::DMatch>  _matches;

    vector<cv::Point2f> _points1;
    vector<cv::Point2f> _points2;

};

#endif // PCSEGMENT_H