Begin Vision class.

This class can display measurements and featuers and find new features.
When complete it will also perform measurements.

1 files changed, 57 insertions, 0 deletions

diff --git a/src/vision.h b/src/vision.h
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+#ifndef  vision_INC
+#define  vision_INC
+#include <cv.h>
+#include <Eigen/Dense>
+#include <iostream>
+#include <opencv2/highgui/highgui.hpp>
+#include <vector>
+
+#include "camera.h"
+#include "types.h"
+
+using cv::Mat;
+using Eigen::Vector2d;
+using Eigen::Vector3d;
+using Eigen::Matrix;
+using std::vector;
+
+/*
+ * =====================================================================================
+ *        Class:  Vision
+ *  Description:  
+ * =====================================================================================
+ */
+class Vision
+{
+    public:
+        /* ====================  LIFECYCLE     ======================================= */
+        Vision ();                             /* constructor */
+
+        /* ====================  ACCESSORS     ======================================= */
+        void drawMeasurements( const vector<measurement_t> &z, const Camera &cam,
+                const cv::Scalar &colsrc, const cv::Scalar &colref,
+                bool drawEllipse);
+
+        void show();
+
+        /* ====================  MUTATORS      ======================================= */
+
+        /* ====================  OPERATORS     ======================================= */
+        void open(const char *fn, const Camera &cam);
+        void acquireFeatures(const Camera &cam, vector<measurement_t> &z);
+
+    protected:
+        /* ====================  METHODS       ======================================= */
+
+        /* ====================  DATA MEMBERS  ======================================= */
+
+    private:
+        /* ====================  METHODS       ======================================= */
+
+        /* ====================  DATA MEMBERS  ======================================= */
+        Mat original, display;
+        static int _id;
+
+}; /* -----  end of class Vision  ----- */
+
+#endif   /* ----- #ifndef vision_INC  ----- */