jafar::facetsmap::AmersMap Class Reference

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Detailed Description

Definition at line 13 of file AmersMap.hpp.

Inheritance diagram for jafar::facetsmap::AmersMap:

List of all members.

Classes
struct	AmerCandidat
Public Member Functions
	AmersMap (const FacetsParams *params, const jafar::camera::StereoBench &stereoBench)
virtual void	processImage (jblas::mat44 &robotpos, jblas::mat44 &robotmovement, const boost::numeric::ublas::bounded_matrix< double, 4, 4 > &leftToRight, const jafar::image::Image &imgl, const jafar::image::Image &imgr, const jafar::camera::StereoBench &stereoBench, int time, bool updateFacet, std::map< int, jblas::vec > predictions)
	You need to implement this function.
vAmers::const_iterator	beginAmers () const
vAmers::iterator	beginAmers ()
vAmers::const_iterator	endAmers () const
vAmers::iterator	endAmers ()
void	setAmerPosition (int id, jblas::vec_range const &)
const std::vector< int > &	suppressedAmers () const
const std::vector < AmerObservation > &	newObservations () const
const std::vector < AmerObservation > &	observations () const
Private Member Functions
vFacets	createFacetListForAmer (double x, double y, vFacets facets)
	This function create a list of facets that might be part of an amer.
AmerCandidat *	findAmerMatch (const jblas::mat44 &robotpos, Facet *match, vFacets &candidats, int time)
	This function try to match an amer with a facet we are trying to match.
Private Attributes
vAmers	m_amers
int	m_lastAmerId
std::vector< int >	m_suppressedAmers
std::vector< AmerObservation >	m_newObservations
std::vector< AmerObservation >	m_observations
vFacets	m_facetsSeenLastTime
FacetsTracker *	m_facetsTracker
int	m_countAmersSeen

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Member Function Documentation

AmerCandidat* jafar::facetsmap::AmersMap::findAmerMatch	(	const jblas::mat44 &	robotpos,
		Facet *	match,
		vFacets &	candidats,
		int	time
	)		[private]

This function try to match an amer with a facet we are trying to match.

Parameters:

match	facet that we try to match
candidats	vector of facets which are expressed in the same repere as the match facets and which can be use in the match processing

virtual void jafar::facetsmap::AmersMap::processImage	(	jblas::mat44 &	robotpos,
		jblas::mat44 &	robotmovement,
		const boost::numeric::ublas::bounded_matrix< double, 4, 4 > &	leftToRight,
		const jafar::image::Image &	imgl,
		const jafar::image::Image &	imgr,
		const jafar::camera::StereoBench &	stereoBench,
		int	time,
		bool	updateFacet,
		std::map< int, jblas::vec >	predictions
	)		[virtual]

You need to implement this function.

Parameters:

robotpos	the estimated movement of the robot
im3d	the result of the stereovision
points	a vector of Harris point
img	the image

Implements jafar::facetsmap::FacetsAnalyser.

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

• modules/facetsmap/include/facetsmap/AmersMap.hpp