D:/Travail/These/Determination caracteristiques camera/GSoC/SfM/src/EuclideanEstimator.h

#ifndef _GSOC_SFM_POINTS_3D_EUCLIDEAN_ESTIMATION_H
#define _GSOC_SFM_POINTS_3D_EUCLIDEAN_ESTIMATION_H 1

#include <iostream>
#include "libmv/base/vector.h"
#include "libmv/numeric/numeric.h"

#include "macro.h" //SFM_EXPORTS
#include "SequenceAnalyzer.h"
#include "PointOfView.h"

namespace OpencvSfM{

  class SFM_EXPORTS EuclideanEstimator
  {
  protected:
    int index_origin;
    libmv::vector<libmv::Mat3> intra_params_;
    libmv::vector<libmv::Mat3> rotations_;
    libmv::vector<libmv::Vec3> translations_;
    std::vector<PointOfView>& cameras_;
    SequenceAnalyzer &sequence_;
  public:
    EuclideanEstimator( SequenceAnalyzer &sequence,
      std::vector<PointOfView>& cameras );
    virtual ~EuclideanEstimator( void );

    std::vector< TrackOfPoints > point_computed_;
    std::vector<bool> camera_computed_;

    void addNewPointOfView( const PointOfView& camera );

    void computeReconstruction( );

    void bundleAdjustement( );

    void viewEstimation( bool coloredPoints = true );
    
    void initialReconstruction( int image1, int image2 );
    
    bool cameraResection( unsigned int image, int max_reprojection = 50 );

    void addMoreMatches(int img1, int img2,
      std::string detect = "FAST", std::string extractor = "ORB");
  };

}

#endif