planLocalizer.hpp

/* $Id: localizer.hpp 3961 2009-08-03 12:30:00Z nksallem $ */

#ifndef LOCALIZER_PLAN_LOCALIZER_HPP
#define LOCALIZER_PLAN_LOCALIZER_HPP

#include "kernel/jafarException.hpp"
#include "jmath/jblas.hpp"
#include "localizer/point2d3d.hpp"
#include <opencv/cxcore.h>
#if CV_MAJOR_VERSION*10 + CV_MINOR_VERSION > 21
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#else
#include <cv.h>
#include <cv.hpp>
#include <cxtypes.h>
#include <cxcore.h>
#endif

namespace jafar {

  namespace localizer {
    
    
    class PlanLocalizer {
      std::vector<cv::Point2f> sources;
      std::vector<cv::Point2f> matches;
      std::vector<uchar> status;
      jblas::mat33 m_homography;
      //validity threshold for homography
      double validityThreshold;

      bool isValidHomography(const cv::Mat& homography, 
           const double& thresholdForDeterminant);
    public:
      PlanLocalizer();
      PlanLocalizer(const std::vector<cv::Point2f>& _sources, 
                    const std::vector<cv::Point2f>& _matches);
      PlanLocalizer(const std::vector<jblas::vec2>& _sources, 
                    const std::vector<jblas::vec2>& _matches);
      //      PlanLocalizer(const image::Image& object, const image::Image& model);
      void addPair(const cv::Point2f& _src, const cv::Point2f& _ref);
      void addPair(const jblas::vec2& _src, const jblas::vec2& _ref);
      void addPair(const float& u_src, const float& v_src, 
                   const float& u_ref, const float& v_ref);
      cv::Mat getHomographyMatrix(int method = CV_RANSAC, 
          size_t requiredMatch=8,
          int ransacReprojThreshold=3,
          double validityThreshold = 0.);
      jblas::mat33 homography() const { return m_homography; }
    };
  }//namespace localizer
  
}//namespace jafar

#endif //LOCALIZER_PLAN_LOCALIZER_HPP