jafar::rtslam::DescriptorImagePointMultiView Class Reference

This descriptor for image points stores appearances of the feature from different points of view. More...

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Detailed Description

This descriptor for image points stores appearances of the feature from different points of view.

it can use an homography to predict the appearance

Definition at line 103 of file descriptorImagePoint.hpp.

#include <descriptorImagePoint.hpp>

Inheritance diagram for jafar::rtslam::DescriptorImagePointMultiView:

List of all members.

Public Types
enum	PredictionType { ptNone = 0, ptAffine, ptHomographic }
typedef std::vector< FeatureView >	FeatureViewList
	a FeatureView list
Public Member Functions
	DescriptorImagePointMultiView (int descSize, double scaleStep, double angleStep, PredictionType predictionType)
virtual std::string	typeName () const
virtual bool	addObservation (const observation_ptr_t &obsPtr)
	Take an actual observation and use its appearance to improve the descriptor.
virtual bool	predictAppearance (const observation_ptr_t &obsPtr)
	Fills in the predicted appearance in an observation.
virtual bool	isPredictionValid (const observation_ptr_t &obsPtr)
	returns true if a valid prediction can be made with this descriptor for this observation if it returns false, it doesn't mean that no prediction can be made, but that we can't be sure it will be good
virtual void	desc_text (std::ostream &os) const
virtual void	desc_image (image::oimstream &os) const
Protected Member Functions
void	checkView (jblas::vec const &current_pov, double const &current_pov_norm2, jblas::vec const &lmk, FeatureView &view, double &cosClosestAngle, FeatureView *&closestView) const
	return the closest view and if it is in the bounds or not
bool	getClosestView (const observation_ptr_t &obsPtr, FeatureView *&closestView)
Protected Attributes
FeatureViewList	views
	the different views of the feature
FeatureView	lastValidView
	the last valid view
bool	lastObsFailed
int	descSize
	the size of the patches in the descriptor
double	scaleStep
	the difference of scale that provokes storing of a new view, and the max difference of scale to use a view
double	angleStep
	the difference of angle that provokes storing of a new view, in degrees
PredictionType	predictionType
Private Attributes
double	cosAngleStep

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

• modules/rtslam/include/rtslam/descriptorImagePoint.hpp