jafar::dtm::Dtm Class Reference

A wrapper for the calife DTM data struct. More...

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Detailed Description

A wrapper for the calife DTM data struct.

Definition at line 22 of file Dtm.hpp.

#include <Dtm.hpp>

List of all members.

Public Types
enum	file_method { DTM_ASCII, DTM_ARCGIS, DTM_BIN }
	List of different method used to load / save a dtm Used by to_file and from_file. More...
enum	fill_method { DTM_FILL_BASIC, DTM_FILL_QUAD, DTM_FILL_DYNAMIC }
	List of algorithm used to compute the dtm Used by fuse.
enum	gdhe_method { DTM_GDHE_FULL, DTM_GDHE_UPDATE }
	List of method used to fill a gdhe dtm file Use by to_gdhe.
enum	image_method {   DTM_NB_POINTS, DTM_Z_MOYEN, DTM_SIGMA_Z, DTM_CONFIDENCE,   DTM_HSTATE, DTM_VISIBILITY, DTM_HSTATE_VISIBILITY }
	List of way to fill a dtm image Use by to_image. More...
Public Member Functions
	Dtm (const std::string conf_file=default_conf_file, dtm_type type=DTM_FIXED, dtm_stockage stockage=X_LIGNES, const fill_method fill_way=DTM_FILL_BASIC)
	Dtm (const Dtm &)
void	dup (const Dtm &a)
	Make a true copy of dtm a.
void	dup_empty (const Dtm &a)
	Make a copy of the structure of dtm a (It means that we don't copy the value stored in the dtm, only its caracteristics)
void	to_file (const std::string &path, const file_method way) const
	Write the current dtm in a file.
void	from_file (const std::string &path, const file_method way)
	Read a dtm from a file.
void	set_gdhe_display_params (double scale, double offset, int luminance)
	Modify the display parameters for gdhe (aka _zscale, _zoffset, and _luminance)
int	to_gdhe (const std::string &path, const gdhe_method way) const
	Dump the current DTM in a gdhe file (to future gdhe display)
void	from_gdhe (const std::string &path)
	Read a DTM from a gdhe file (mainly for debug)
int	fuse (jafar::calife::Image3d &im3d, jafar::geom::T3D &t3d, jafar::geom::T3D &s2o)
	Integrage one image to the dtm.
int	prepare_dynamic_fuse (jafar::calife::Image3d &im3d, jafar::geom::T3D &left, jafar::geom::T3D &right, double *intrinsec_rectified_param, int reduction, double max_depth)
	Prepare local dtm to be used for further step of DTM_FILL_DYNAMIC It must be called only one time, before the first call to fuse.
bool	is_ready_for_dynamic_fuse ()
	A quick test to check that the object is ready to dynamicly fuse image.
int	get_imax () const
	Get the max line number in the DTM.
int	get_jmax () const
	Get the max column number in the DTM.
bool	get_z (int i, int j, float *z) const
	Get the current z for a cell of the DTM.
void	set_z (int i, int j, float)
	Set the z for a cell of the DTM.
double	get_scale () const
	Get the scale factor for DTM.
double	get_x_orig () const
	Get the the x origin of the DTM.
double	get_y_orig () const
	Get the the y origin of the DTM.
void	min_max ()
	Compute the min_max of the DTM (aka the differents bounds.
void	print_info () const
	Print different informations for the DTM (things like size, scales, min/max z, ...)
void	print_cell_info (int i, int j) const
	Print different informations for a cell of the DTM (actual height, its positions ...)
DTM *	get_data () const
	Return the internal DTM data struct.
void	write_image (jafar::image::Image &img, const image_method &method, bool global=true) const
	This function generate a rgb image representing some interesting values stored in the dtm.
jafar::image::Image *	to_image (const image_method &method, bool global=true) const
	This function generate a rgb image representating some interesting value stored in the dtm.
Static Public Member Functions
static void	scaleZ (const std::string &orig, double scale, const std::string &res)
	This function generate a new dtm changing the scale_z setting (so it will expand or reduce the relief).
Static Public Attributes
static std::string	default_conf_file
Private Member Functions
void	to_image_nb_points (jafar::image::Image &, DTM *) const
void	to_image_z_moyen (jafar::image::Image &, DTM *) const
void	to_image_sigma_z (jafar::image::Image &, DTM *) const
void	to_image_hstate (jafar::image::Image &, DTM *) const
void	to_image_visibility (jafar::image::Image &, DTM *) const
void	to_image_hstate_visibility (jafar::image::Image &, DTM *) const
void	_write_image (jafar::image::Image &, const image_method &, DTM *) const
Private Attributes
DTM *	pdtm
	internal ptr on the calife data struct
DTM *	local_pdtm
double	_zscale
	temp dtm used by the DTM_FILL_DYNAMIC, NULL in other case
double	_zoffset
int	_luminance
fill_method	_way
	Method used to fill image.

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Member Enumeration Documentation

enum jafar::dtm::Dtm::file_method

List of different method used to load / save a dtm Used by to_file and from_file.

Enumerator:

DTM_ASCII	ASCII file (readable by human.
DTM_ARCGIS	ARCGIS file (classic data file, only avaiblable for reading.
DTM_BIN	Binary file (not readable by human so)

Definition at line 28 of file Dtm.hpp.

enum jafar::dtm::Dtm::image_method

List of way to fill a dtm image Use by to_image.

Enumerator:

DTM_NB_POINTS	Will represent nb points by cell.
DTM_Z_MOYEN	Z_moyen by cell.
DTM_SIGMA_Z	sigma_z by cell
DTM_CONFIDENCE	confidance by cell (only make sense with DTM_FILL_QUAD
DTM_HSTATE	vertical or flat
DTM_VISIBILITY	Visibility field (only make sense in DTM_FILL_DYNAMIC and local_dtm.
DTM_HSTATE_VISIBILITY	Visibility field + (vertical or flat)

Definition at line 54 of file Dtm.hpp.

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Member Function Documentation

void jafar::dtm::Dtm::dup

(

const Dtm &

a

)

Make a true copy of dtm a.

Parameters:

a	is the origin dtm

Returns:

nothing. The current dtm is now equal to a

void jafar::dtm::Dtm::dup_empty

(

const Dtm &

a

)

Make a copy of the structure of dtm a (It means that we don't copy the value stored in the dtm, only its caracteristics)

Parameters:

a	is the origin dtm

Returns:

nothing. The current dtm is empty but has the same properties than a

void jafar::dtm::Dtm::from_file	(	const std::string &	path,
		const file_method	way
	)

Read a dtm from a file.

Parameters:

path	is a constant string representing the file to read
way	is a constant file_method which describes how to read the file

Returns:

Nothing.

pdtm is modified.

void jafar::dtm::Dtm::from_gdhe

(

const std::string &

path

)

Read a DTM from a gdhe file (mainly for debug)

Parameters:

path	is a constant string representanting the file to read.

Returns:

Nothing.

pdtm is modified.

int jafar::dtm::Dtm::fuse	(	jafar::calife::Image3d &	im3d,
		jafar::geom::T3D &	t3d,
		jafar::geom::T3D &	s2o
	)

Integrage one image to the dtm.

Parameters:

im3d	is the image to integrate
t3d	is the transformation between the global frame and the robot frame (not so important)
s2o	is the transformation between the global frame and the sensor frame (only useful if way = DTM_FILL_DYNAMIC

Returns:

0 for success and pdtm is modified.

-1 otherwise.

DTM* jafar::dtm::Dtm::get_data

(

)

const

Return the internal DTM data struct.

It is useful when we need to call directly some calife function.

Returns:

the internal dtm This funciton must be called in context which only read the dtm structure (or if you know exactly what it doest).

int jafar::dtm::Dtm::get_imax

(

)

const

Get the max line number in the DTM.

Returns:

the max line number

int jafar::dtm::Dtm::get_jmax

(

)

const

Get the max column number in the DTM.

Returns:

the max column number

double jafar::dtm::Dtm::get_scale

(

)

const

Get the scale factor for DTM.

Returns:

the scale between length and cell into the DTM

double jafar::dtm::Dtm::get_x_orig

(

)

const

Get the the x origin of the DTM.

Returns:

the x origin of the DTM

double jafar::dtm::Dtm::get_y_orig

(

)

const

Get the the y origin of the DTM.

Returns:

the y origin of the DTM

bool jafar::dtm::Dtm::get_z	(	int	i,
		int	j,
		float *	z
	)		const

Get the current z for a cell of the DTM.

Parameters:

i	is the line index in the DTM
j	is the column index in the DTM
z	is the resulting z

Returns:

False if any error or if the cell is not filled,

True otherwise and z is filled

bool jafar::dtm::Dtm::is_ready_for_dynamic_fuse

(

)

[inline]

A quick test to check that the object is ready to dynamicly fuse image.

Returns:

true if it is ready (false otherwise)

Definition at line 195 of file Dtm.hpp.

References _way.

void jafar::dtm::Dtm::min_max

(

)

Compute the min_max of the DTM (aka the differents bounds.

Returns:

Nothing.

pdtm is modified.

int jafar::dtm::Dtm::prepare_dynamic_fuse	(	jafar::calife::Image3d &	im3d,
		jafar::geom::T3D &	left,
		jafar::geom::T3D &	right,
		double *	intrinsec_rectified_param,
		int	reduction,
		double	max_depth
	)

Prepare local dtm to be used for further step of DTM_FILL_DYNAMIC It must be called only one time, before the first call to fuse.

(you may need to recall it if you change roll / pitch of the camera)

Parameters:

im3d	is a reference image (mainly used for its size ...)
left	is the transformation between left camera and robot (yaw must be 0)
right	is the transformation between right camera and robot (yaw must be 0)
intrinsec_rectified_param	is the intrinsec rectified matrix for stereo
reduction	is the reduction between the full size image and the image currenlty threated
max_depth	is the maximum depth of the computed view field

Returns:

0 in case of success : local_pdtm has a valid value

-1 in case of error : local_pdtm is NULL, and so you can't fuse any image

void jafar::dtm::Dtm::print_cell_info	(	int	i,
		int	j
	)		const

Print different informations for a cell of the DTM (actual height, its positions ...)

Parameters:

i	is the line index of the DTM
j	is the column index of the DTM

Returns:

Nothing

void jafar::dtm::Dtm::print_info

(

)

const

Print different informations for the DTM (things like size, scales, min/max z, ...)

Returns:

Nothing

static void jafar::dtm::Dtm::scaleZ	(	const std::string &	orig,
		double	scale,
		const std::string &	res
	)		[static]

This function generate a new dtm changing the scale_z setting (so it will expand or reduce the relief).

Parameters:

orig	is a const string representing the path of the dtm file origin
scale	is the new scale
res	is a const string representing the path of the dtm result file

Returns:

File res is written with the new dtm.

void jafar::dtm::Dtm::set_z	(	int	i,
		int	j,
		float
	)

Set the z for a cell of the DTM.

Parameters:

i	is the line index in the DTM
j	is the column index in the DTM
z	is the value we want to set for this cell

Returns:

Nothing.

pdtm is modified.

Warning:

Use this only to write 'virtual' dtm, not to modify a 'real' dtm.

void jafar::dtm::Dtm::to_file	(	const std::string &	path,
		const file_method	way
	)		const

Write the current dtm in a file.

Parameters:

path	is a constant string representing the file we need to write
way	is a constant file_method which describes how to write the file

Returns:

Nothing.

int jafar::dtm::Dtm::to_gdhe	(	const std::string &	path,
		const gdhe_method	way
	)		const

Dump the current DTM in a gdhe file (to future gdhe display)

Parameters:

path	is a constant string representing the file to write
way	is a const gdhe_method which describes how to write the file

Returns:

Nothing.

jafar::image::Image* jafar::dtm::Dtm::to_image	(	const image_method &	method,
		bool	global = true
	)		const

This function generate a rgb image representating some interesting value stored in the dtm.

Parameters:

method	precise which information will be represented
global	: if true, gave an image from the full dtm, if false the local dtm (only make sense in DTM_FILL_DYNAMIC

Returns:

the generated image

void jafar::dtm::Dtm::write_image	(	jafar::image::Image &	img,
		const image_method &	method,
		bool	global = true
	)		const

This function generate a rgb image representing some interesting values stored in the dtm.

Parameters:

img	represents the image that will be written. It must be as large as the dtm
method	precise which information will be represented
global	: if true, gave an image from the full dtm, if false the local dtm (only make sense in DTM_FILL_DYNAMIC

Returns:

nothing. img has been modified.

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The documentation for this class was generated from the following file:

• modules/dtm/include/dtm/Dtm.hpp