This class holds the information concerning a facet.
Definition at line 24 of file facet.hpp.
Public Member Functions |
| | Facet (const FacetsParams *params, unsigned int id, const ::jafar::gfm::InterestFeature &lpoint, const ::jafar::gfm::InterestFeature &rpoint, const jafar::image::Image &imgl, const homography::ImageGradients &imggradl, const jafar::image::Image &imgr, const homography::ImageGradients &imggradr, const camera::StereoBench &stereoBench, int time) |
| void | update (const Facet *f, int time) |
| | Update the facets after a tracking.
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| void | updatePreviousObservation (const boost::numeric::ublas::bounded_matrix< double, 4, 4 > &robotmovement) |
| | Update the previous observation using the estimated robotmovement, this is usefull when tracking and facets weren't retracked at a givent instant.
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void | changeRef (const jafar::facetsmap::Repere *r) |
| | This function change the reference of the facet, the origin, vector i, j and k are updated.
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void | setRef (const jafar::facetsmap::Repere *r) |
| | This function set the reference of the facet, the origin, vector i, j and k are _not_ updated.
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jblas::vec3 | localOrigin () const |
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jblas::vec3 | globalOrigin () const |
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jafar::facetsmap::Repere * | repere () |
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double | halfSize () const |
| jblas::vec3 | globalAxe1 () const |
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jblas::vec3 | localAxe1 () const |
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jblas::vec3 | globalAxe2 () const |
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jblas::vec3 | localAxe2 () const |
| jblas::vec3 | globalNormal () const |
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jblas::vec3 | localNormal () const |
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const jafar::image::Image * | image () const |
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unsigned int | id () const |
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int | time () const |
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double | distanceTo (jblas::vec3 pos) const |
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bool | insideValidity (jblas::vec3 pos) const |
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bool | insideValidity (double d) const |
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bool | insideFacet (jblas::vec3 pos) |
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vUints_cit | neighborhoodBegin () const |
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vUints_cit | neighborhoodEnd () const |
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void | neighborhoodAdd (uint fid) |
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void | neighborhoodAdd (Facet *f) |
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double | orientation () const |
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double | quality () const |
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double | compare (Facet *f) |
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FacetsGroupBase * | group () const |
| | This function return the group that holds this facet.
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geom::InterestPoint | ipDetection () |
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jblas::mat33 | positionVariance () const |
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int | countSeen () |
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int | age () |
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void | incAge () |
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const jblas::vec3 & | previousObservationOrigin () const |
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const jblas::vec3 & | previousObservationNormal () const |
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const jblas::vec3 & | previousObservationAxe1 () const |
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const jblas::vec3 & | previousObservationAxe2 () const |
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void | print () |
Static Public Member Functions |
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static void | computeTexture (const FacetsParams *params, image::Image &texdst, const image::Image &imgl, const jblas::vec3 &origin, const jblas::vec3 &axe1, const jblas::vec3 axe2, const camera::StereoBench &stereoBench) |
Public Attributes |
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std::vector< jblas::vec3 > | t_points |
Private Member Functions |
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| Facet () |
| | This constructor is used only for serialization.
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void | setNormal (jblas::vec3 n) |
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void | setAxe1 (jblas::vec3 n) |
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void | setAxe2 (jblas::vec3 n) |
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void | seenAgain () |
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void | setGroup (FacetsGroupBase *fg) |
| | This function allow to set the group, this function is private to insure that only Facets::Group::add uses it.
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void | computeHomography (const FacetsParams *params, jblas::mat33 &homography, const ::jafar::gfm::InterestFeature &lpoint, const ::jafar::gfm::InterestFeature &rpoint, const jafar::image::Image &imgl, const homography::ImageGradients &imggradl, const jafar::image::Image &imgr, const homography::ImageGradients &imggradr) |
Static Private Member Functions |
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static void | computeAxes (jblas::vec3 &, jblas::vec3 &, jblas::vec3 normal, double orientation) |
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static void | computeOriginAndNormal (jblas::vec3 &origin, jblas::mat33 &positionJac, jblas::vec3 &vnormal, const jblas::mat33 &homography, const ::jafar::gfm::InterestFeature &lpoint, const camera::StereoBench &stereoBench) |
Private Attributes |
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int | m_sizefacet |
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int | m_time |
| | Size of the facet on the real image (equal SIZE_FACET at the begining)
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uint | m_id |
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double | m_squareError |
| | identifiant of the facet, it is used for matching
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double | m_halfSize |
| | square error of the plan parameters
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double | m_inf_distance |
| | size of the facet
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double | m_sup_distance |
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double | m_best_distance |
| | define the range of validity of the facet
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double | m_best_angle |
| | contains closest the distance at which the we have save the imagette
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image::Image * | m_imagette |
| | contains the value of the best angle with which the robot saw the facet
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vUints | m_neighborhood |
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double | m_orientation |
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FacetsGroupBase * | m_facetsGroup |
| | orientation de l'imagette, calcule a partir du gradient
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homography::HomographyEstimator::Statistics | m_stats |
| | Groupe auquelle la facette appartient.
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geom::InterestPoint | m_ipDetection |
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int | m_countSeen |
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int | m_age |
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jblas::mat33 | m_positionVariance |
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jblas::mat66 | m_variance |
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jblas::vec | m_mean |
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bool | meannotset |
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jblas::vec3 | m_previousObservationOrigin |
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jblas::vec3 | m_previousObservationNormal |
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jblas::vec3 | m_previousObservationAxe1 |
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jblas::vec3 | m_previousObservationAxe2 |
Friends |
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class | AmersMap |
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class | FacetsMap |
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bool | FacetsGroupBase::add (Facet *) |
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vFacets_it | FacetsGroupBase::remove (const vFacets_it &) |
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std::ostream & | operator<< (std::ostream &, const Facet &) |
| | implement operator <<
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