Detailed Description

Definition at line 34 of file facetsanalyser.hpp.

Inheritance diagram for jafar::facetsmap::FacetsAnalyser:

Public Member Functions
	FacetsAnalyser (const FacetsParams *params)
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)=0
	You need to implement this function.
void	dumpProcessStats ()
	This function display on the screen all the stats of the processing.
Protected Member Functions
vFacets	analyseImage (const jafar::image::Image &imgl, const jafar::image::Image &imgr, const camera::StereoBench &stereoBench, int time, bool updateFacet)
	This function is called by processImage to get the lists of new facets, all the facets that are found are stored in m_recentFacets.
Facet *	findRecentFacetContaining (jblas::vec3 v)
	This function return a facet containing the point v, the function only look in the recents facets.
void	insertFacet (uint id, Facet *f, bool lookneigh=false)
	This function insert a facet, and look for its neighborhood.
const FacetsParams *	params ()
Private Attributes
const FacetsParams *	m_params
std::vector< ProcessStats >	m_processStats
vFacets	m_recentFacets
gfm::Engine *	m_matchingEngine
FacetsDetector *	m_facetsDetector

Member Function Documentation

vFacets jafar::facetsmap::FacetsAnalyser::analyseImage	(	const jafar::image::Image &	imgl,
		const jafar::image::Image &	imgr,
		const camera::StereoBench &	stereoBench,
		int	time,
		bool	updateFacet
	)		`[protected]`

This function is called by processImage to get the lists of new facets, all the facets that are found are stored in m_recentFacets.

Facet* jafar::facetsmap::FacetsAnalyser::findRecentFacetContaining ( jblas::vec3 v ) [protected]

This function return a facet containing the point v, the function only look in the recents facets.

Parameters:

v	must given in the global repere

void jafar::facetsmap::FacetsAnalyser::insertFacet	(	uint	id,
		Facet *	f,
		bool	lookneigh = `false`
	)		`[inline, protected]`

This function insert a facet, and look for its neighborhood.

Parameters:

id	the identifiant of the facet (should be equal to f->id())
f	a pointer to the facet
lookneigh	tells the function if we need to look for the facets which might be close to the facet we are adding

Definition at line 67 of file facetsanalyser.hpp.

virtual void jafar::facetsmap::FacetsAnalyser::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
	)		`[pure 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

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