jafar::slampt::IdOmniImagePointManager Class Reference

Class for doing bearing-only slam with an omni camera and when features are interest points extracted from an image using Inverse Depth parameterization. More...

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Detailed Description

Class for doing bearing-only slam with an omni camera and when features are interest points extracted from an image using Inverse Depth parameterization.

Definition at line 651 of file imagePointManager.hpp.

#include <imagePointManager.hpp>

Inheritance diagram for jafar::slampt::IdOmniImagePointManager:

List of all members.

Public Member Functions
	IdOmniImagePointManager (slam::BaseSlam &slam_, jafar::hpm::Engine &hpmEngineLoopClosing_, jafar::hpm::TrackingEngine &hpmTrackingEngine_, kernel::IdFactory<> *_idFactory=0)
virtual void	setupZones (jafar::camera::CameraParabolicBarreto &camera_, unsigned int imageMargin_, std::size_t nbZonesInRadius_, std::size_t nbZonesInPeriphery_, unsigned int nbDesiredFeaturesPerZone_)
virtual boost::tuple< bool, unsigned int >	isPointInZone (double u, double v)
slam::Observation::ObservationType	getObservationType () const
jafar::datareader::ImageReader &	getImageReader ()
jafar::hpm::vecHarrisPoints const &	getCurrentPoints () const
jafar::hpm::vecHarrisPoints const &	getPreviousPoints () const
void	initFrame (unsigned int frameIndex_, unsigned int robotId_=0, unsigned int sensortId_=0)
void	initFrame (unsigned int frameIndex_, jafar::image::Image *image, unsigned int robotId_=0, unsigned int sensortId_=0)
void	processFrame (unsigned int frameIndex_, unsigned int robotId_=0, unsigned int sensortId_=0)
void	processFrame (unsigned int frameIndex_, jafar::image::Image *image, unsigned int robotId_=0, unsigned int sensortId_=0)
Public Attributes
jafar::camera::CameraParabolicBarreto	camera
jafar::camera::PanoMask	omniMask
unsigned int	imageMargin
std::size_t	nbZonesInRadius
std::size_t	nbZonesInPeriphery
Protected Member Functions
bool	isFeatureCandidate (std::size_t index_)
jafar::image::Image *	loadImage (unsigned int frameNumber) const
bool	fillObservation (std::size_t index_, slam::Observation &obs, unsigned int sensorId_, unsigned int robotId_) const
void	removeLandmark (unsigned int id)
void	removeLandmark (slam::BaseFeature const &landmark)
Protected Attributes
jafar::hpm::TrackingEngine &	hpmTrackingEngine
	For tracking points.
jafar::hpm::vecHarrisPoints	vecPointsPrev
jafar::hpm::vecHarrisPoints	vecPointsCur
jafar::datareader::ImageReader	imageReader

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

• modules/slampt/include/slampt/imagePointManager.hpp