Active search tesselation grid for segments. More...

Detailed Description

Active search tesselation grid for segments.

Definition at line 38 of file activeSegmentSearch.hpp.

Public Types
typedef std::vector < std::vector < observation_ptr_t > >	Grid
Public Member Functions
	ActiveSegmentSearchGrid (const int &imgSize_h, const int &imgSize_v, const int &nCells_h, const int &nCells_v, const int &margin=0, const int &separation=0)
	Constructor.
void	clear ()
	Clear grid.
void	renew ()
	Clear grid and position it at a new random location.
void	addObs (const vec4 &pix, observation_ptr_t obsPtr)
	Add a projected segment to the grid.
bool	getRoi (image::ConvexRoi &roi)
	Get ROI of a random empty cell.
void	setFailed (const image::ConvexRoi &roi)
	Call this after getRoi if no point was found in the roi in order to avoid searching again in it.
Public Attributes
Grid	projections
Private Member Functions
template<class Vec >
veci4	pix2cell (const Vec &pix)
	Get cell corresponding to pixel.
veci2	cellOrigin (const veci2 &cell)
	Get cell origin (exact pixel)
vec2	cellCenter (const veci2 &cell)
	Get cell center (can be decimal if size of cell is an odd number of pixels)
bool	pickEmptyCell (veci2 &cell)
	Get one random empty cell.
void	cell2roi (const veci2 &cell, image::ConvexRoi &roi)
	Get the region of interest, reduced by a margin.
Private Attributes
veci2	imgSize
veci2	gridSize
veci2	cellSize
veci2	offset
mati	projectionsCount
mati	emptyCellsTile_tmp
int	separation
int	margin
int	cells_h
Friends
std::ostream &	operator<< (std::ostream &s, ActiveSegmentSearchGrid const &grid)

Constructor & Destructor Documentation

jafar::rtslam::ActiveSegmentSearchGrid::ActiveSegmentSearchGrid	(	const int &	imgSize_h,
		const int &	imgSize_v,
		const int &	nCells_h,
		const int &	nCells_v,
		const int &	margin = `0`,
		const int &	separation = `0`
	)

Constructor.

Parameters:

imgSize_h	horizontal image size, in pixels.
imgSize_v	vertical image size.
nCells_h	horizontal number of cells per image width.
nCells_v	vertical number of cells per image height.
separation	minimum separation between existing and new points.

void jafar::rtslam::ActiveSegmentSearchGrid::addObs	(	const vec4 &	pix,
		observation_ptr_t	obsPtr
	)

Add a projected segment to the grid.

Parameters:

pix	the segment to add.

void jafar::rtslam::ActiveSegmentSearchGrid::clear ( )

Clear grid.

Sets all cell counters to zero.

bool jafar::rtslam::ActiveSegmentSearchGrid::getRoi ( image::ConvexRoi & roi )

Get ROI of a random empty cell.

Parameters:

roi	the resulting ROI

void jafar::rtslam::ActiveSegmentSearchGrid::renew ( )

Clear grid and position it at a new random location.

Sets all cell counters to zero and sets a new random grid position.

void jafar::rtslam::ActiveSegmentSearchGrid::setFailed ( const image::ConvexRoi & roi )

Call this after getRoi if no point was found in the roi in order to avoid searching again in it.

Parameters:

roi	the ROI where nothing was found

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