jafar::slampt::ImagePointManager Class Reference

Base class for doing slam using points extracted in an image. More...

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Detailed Description

Base class for doing slam using points extracted in an image.

Definition at line 67 of file imagePointManager.hpp.

#include <imagePointManager.hpp>

Inheritance diagram for jafar::slampt::ImagePointManager:

List of all members.

Classes
struct	IdPredicate
class	Stats
Public Member Functions
	ImagePointManager (slam::BaseSlam &slam_, jafar::hpm::Engine &hpmEngineLoopClosing_, kernel::IdFactory<> *_idFactory)
void	setFrameDataBase (MonoImageFrameDataBase *_frameDataBase)
virtual slam::Observation::ObservationType	getObservationType () const =0
virtual void	setupZones (unsigned int imageWidth_, unsigned int imageHeight_, double reduction_, std::size_t nbZonesU_, std::size_t nbZonesV_, unsigned int nbDesiredFeaturesPerZone_)
void	setupLoopClosing (double loopClosingDistanceMax_, unsigned int loopClosingIndexDistanceMin_, bool enable=true)
bool	isLoopClosingDetected () const
unsigned int	getLoopClosingFrameIndex () const
jafar::hpm::vecHarrisPoints const &	getLoopClosingPoints () const
virtual void	writeLogHeader (jafar::kernel::DataLogger &dataLogger) const
	Implements this method calling repeatidly log methods.
virtual void	writeLogData (jafar::kernel::DataLogger &dataLogger) const
	Implements this method calling repeatidly log methods.
virtual void	writeLogStats (jafar::kernel::DataLogger &log) const
	write stats at the end of the log
void	setProcessEvents (int events_)
Protected Types
typedef std::vector < QualityIndexPoint >	QualityIndexPoints
typedef std::list< std::size_t >	FeaturesList
	features observed in current frame
Protected Member Functions
virtual boost::tuple< bool, unsigned int >	isPointInZone (double u_, double v_)
unsigned int	getNewFeatureId ()
virtual bool	isFeatureCandidate (std::size_t index_)=0
void	addNewFeature (std::size_t index_, hpm::HarrisPoint &point_)
void	addKnownFeature (std::size_t index_, jafar::hpm::HarrisPoint const &point_)
template<class VecPoints >
void	loopClosing (VecPoints &framePoints_, unsigned int robotId_)
template<class VecPoints >
void	featureSelection (VecPoints &points_)
template<class VecPoints >
void	updateFrameDataBase (VecPoints &points_, unsigned int robotId_)
virtual jafar::image::Image *	loadImage (unsigned int frameNumber) const =0
virtual bool	fillObservation (std::size_t index_, slam::Observation &obs, unsigned int sensorId_, unsigned int robotId_) const =0
void	slamProcessObservations (unsigned int robotId_, unsigned int sensorId_) const
	there is only one point manager but the observations corresponds to each robotId
Static Protected Member Functions
static unsigned int	computeZoneIndex (double x_, unsigned int nbInt_, double xMax_)
Protected Attributes
kernel::IdFactory *	m_idFactory
slam::BaseSlam &	slam
bool	loopClosingOn
	For loop closing.
jafar::hpm::Engine &	hpmEngineLoopClosing
MonoImageFrameDataBase *	frameDataBase
bool	loopClosingDetection
unsigned int	loopClosingFrameIndex
unsigned int	loopClosingNbUsedFeatures
jafar::hpm::vecHarrisPoints	loopClosingPoints
std::vector< QualityIndexPoints >	pointsInZone
	points from last frame which are candidate
std::vector< unsigned int >	nbFeaturesInZone
FeaturesList	knownFeatures
FeaturesList	newFeatures
unsigned int	imageWidth
	cells definition
unsigned int	imageHeight
std::size_t	nbZonesU
std::size_t	nbZonesV
unsigned int	nbDesiredFeaturesPerZone
unsigned int	processingTime
class jafar::slampt::ImagePointManager::Stats	stats
unsigned int	currentFrameIndex
	current frame number
Static Protected Attributes
static kernel::IdFactory *	s_idFactory
Private Attributes
bool	ownFrameDataBase
int	processEvents
Friends
std::ostream &	operator<< (std::ostream &s, const ImagePointManager &slam_)
std::string	getZones (ImagePointManager const &m)

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Member Function Documentation

virtual void jafar::slampt::ImagePointManager::writeLogData

(

jafar::kernel::DataLogger &

log

)

const [virtual]

Implements this method calling repeatidly log methods.

You should use writeData() or writeDataVector().

Implements jafar::kernel::DataLoggable.

virtual void jafar::slampt::ImagePointManager::writeLogHeader

(

jafar::kernel::DataLogger &

log

)

const [virtual]

Implements this method calling repeatidly log methods.

You should use writeComment(), writeLegend() or writeLegendTokens().

Implements jafar::kernel::DataLoggable.

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

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