Add code to perform a guided measurement.

The Vision class can template match in a search region. The search
region result is masked by an ellipse related to the S matrix of the
feature.

1 files changed, 9 insertions, 2 deletions

diff --git a/src/vision.h b/src/vision.h
index 6f324c1..a8ed318 100644
--- a/src/vision.h
+++ b/src/vision.h
@@ -8,8 +8,10 @@
 
 #include "camera.h"
 #include "types.h"
-
+#define PATCHSIZE 51            /* must be odd */
 using cv::Mat;
+using cv::RotatedRect;
+using cv::Rect;
 using Eigen::Vector2d;
 using Eigen::Vector3d;
 using Eigen::Matrix;
@@ -39,6 +41,11 @@ class Vision
         /* ====================  OPERATORS     ======================================= */
         void open(const char *fn, const Camera &cam);
         void acquireFeatures(const Camera &cam, vector<measurement_t> &z);
+        void getTemplate( Mat &p, const Vector3d &pt);
+        void measure( const Camera &cam, const measurement_t &zin, measurement_t &zout);
+        void measurements( const Camera &cam, const vector<measurement_t> &zin,
+                vector<measurement_t> &zout);
+        void searchRegion( const Camera &cam, const measurement_t &z, cv::RotatedRect &rr);
 
     protected:
         /* ====================  METHODS       ======================================= */
@@ -49,7 +56,7 @@ class Vision
         /* ====================  METHODS       ======================================= */
 
         /* ====================  DATA MEMBERS  ======================================= */
-        Mat original, display;
+        Mat original, gray, display;
         static int _id;
 
 }; /* -----  end of class Vision  ----- */