jafar::slamlines::ImageHomogenCoordSegmentManager Class Reference

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Detailed Description

Definition at line 139 of file imageSegmentManager.hpp.

List of all members.

Public Member Functions
	ImageHomogenCoordSegmentManager (slam::SlamEkf &slam_, slam::Observation::ObservationType type_=slam::Observation::SEGMENT_IMAGE)
	Constructor.
void	setup (double minSegmentSize, double u1, double v1, double u2, double v2)
	Setup.
void	initFrame (unsigned int frameIndex_, VecImageSegments &vecImageSegments)
	Initialize frame.
void	processFrame (unsigned int frameIndex, VecImageSegments &vecImageSegments)
	Process image frame.
unsigned int	compareId (VecMatches const &matches, VecImageSegments const &vecImageSegmentsRef, VecImageSegments &vecImageSegmentsMatch, jafar::lines::LineSegmentSet &lineSegmentSet)
	Compare feature identifiers.
unsigned int	compareIdInv (VecMatches const &matches, VecImageSegments const &vecImageSegmentsRef, VecImageSegments &vecImageSegmentsMatch, jafar::lines::LineSegmentSet &lineSegmentSet)
	Compare identifiers - inverse.
unsigned int	compareIdInvAll (VecMatches const &matches, VecImageSegments const &vecImageSegmentsRef, VecImageSegments &vecImageSegmentsMatch, jafar::lines::LineSegmentSet &lineSegmentSet)
	Compare identifiers - inverse, all.
Public Attributes
slam::Observation::ObservationType	type
	type of segment Observation
Protected Member Functions
unsigned int	getNewFeatureId ()
bool	isInZone (jblas::vec2 const &pix) const
	Test to know if the feature is in the region of interest.
void	featureSelection (VecImageSegments &vecImageSegments)
	Feature selection.
void	slamProcessObservations (unsigned int currentFrameIndex, VecImageSegments &vecImageSegments) const
	Proess observations.
Protected Attributes
unsigned int	p_idFactory
slam::SlamEkf &	slam
double	p_minSegmentSize
	minimum size in pixel
jblas::vec2	p_zone1
jblas::vec2	p_zone2

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Member Function Documentation

unsigned int jafar::slamlines::ImageHomogenCoordSegmentManager::compareId	(	VecMatches const &	matches,
		VecImageSegments const &	vecImageSegmentsRef,
		VecImageSegments &	vecImageSegmentsMatch,
		jafar::lines::LineSegmentSet &	lineSegmentSet
	)

Compare feature identifiers.

Compares identifiers of matched features against features in the map

unsigned int jafar::slamlines::ImageHomogenCoordSegmentManager::compareIdInv	(	VecMatches const &	matches,
		VecImageSegments const &	vecImageSegmentsRef,
		VecImageSegments &	vecImageSegmentsMatch,
		jafar::lines::LineSegmentSet &	lineSegmentSet
	)

Compare identifiers - inverse.

No idea

unsigned int jafar::slamlines::ImageHomogenCoordSegmentManager::compareIdInvAll	(	VecMatches const &	matches,
		VecImageSegments const &	vecImageSegmentsRef,
		VecImageSegments &	vecImageSegmentsMatch,
		jafar::lines::LineSegmentSet &	lineSegmentSet
	)

Compare identifiers - inverse, all.

No idea

void jafar::slamlines::ImageHomogenCoordSegmentManager::setup	(	double	minSegmentSize,
		double	u1,
		double	v1,
		double	u2,
		double	v2
	)		[inline]

Setup.

This sets some key atributes

Parameters:

minSegmentSize	the minimum segment length, in pixels
u1	min horizontal coordinate of the region of interest
v1	min vertical coordinate of the region of interest
u2	max horizontal coordinate of the region of interest
v2	max vertical coordinate of the region of interest

Definition at line 180 of file imageSegmentManager.hpp.

References p_minSegmentSize.

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

• modules/slamlines/include/slamlines/imageSegmentManager.hpp