Class for omni slam. More...

Detailed Description

Class for omni slam.

Definition at line 66 of file omniImagePointManager.hpp.

#include <omniImagePointManager.hpp>

Inheritance diagram for jafar::slampt::OmniImagePointManager:

Public Member Functions
	OmniImagePointManager (slam::BearingOnlySlam &slam_, jafar::camera::CameraParabolicBarreto &camera_, jafar::hpm::Engine &hpmEngineLoopClosing_, jafar::hpm::TrackingEngine &hpmTrackingEngine_)
void	setupManager (unsigned int imageMargin_, std::size_t nbZonesInRadius_, std::size_t nbZonesInPeriphery_, unsigned int nbDesiredFeaturesPerZone_)
void	setupDataBase (int databaseNbImagesMax, double databaseImageDistanceMin, int loopClosingIndexDistanceMin, double loopClosingImageDistanceMax, std::string const &imageDir)
bool	isLoopClosingDetected () const
unsigned int	getLoopClosingFrameIndex () const
jafar::hpm::vecHarrisPoints const &	getLoopClosingPoints () const
void	writeLogHeader (jafar::kernel::DataLogger &dataLogger) const
	Implements this method calling repeatidly log methods.
void	writeLogData (jafar::kernel::DataLogger &dataLogger) const
	Implements this method calling repeatidly log methods.
jafar::datareader::ImageReader &	getImageReader ()
jafar::hpm::vecHarrisPoints const &	getCurrentPoints () const
jafar::hpm::vecHarrisPoints const &	getPreviousPoints () const
void	initFrame (unsigned int frameIndex_)
void	initFrame (jafar::image::Image &image, int frameIndex_=-1)
void	initFrame (boost::posix_time::time_duration const &curTime, jafar::image::Image &image)
void	processFrame (unsigned int frameIndex_)
void	processFrame (jafar::image::Image &image, int frameIndex_=-1)
Public Attributes
jafar::camera::CameraParabolicBarreto	camera
jafar::camera::PanoMask	omniMask
unsigned int	imageMargin
std::size_t	nbZonesInRadius
std::size_t	nbZonesInPeriphery
unsigned int	nbDesiredFeaturesPerZone
Private Types
typedef std::vector < QualityIndexPoint >	QualityIndexPoints
typedef std::list< std::size_t >	FeaturesList
	features observed in current frame
Private Member Functions
boost::tuple< bool, unsigned int >	isPointInZone (double u, double v)
unsigned int	getNewFeatureId ()
void	addNewFeature (std::size_t index_, hpm::HarrisPoint &point_)
void	addKnownFeature (std::size_t index_, jafar::hpm::HarrisPoint const &point_)
bool	loopClosingDetection (image::Image const &image)
void	loopClosing (jafar::hpm::vecHarrisPoints &framePoints_, jafar::image::Image const &image)
void	featureSelection (jafar::hpm::vecHarrisPoints &points_)
void	addFrameToDataBase (jafar::hpm::vecHarrisPoints &points_, jafar::image::Image const &image)
void	slamProcessObservations () const
bool	fillObservation (std::size_t index_, slam::Observation &obs) const
void	removeLandmark (slam::BaseFeature const &landmark)
void	removeTentativeLandmark (slam::InitFeature const &landmark)
void	removeLandmark (unsigned int id)
Static Private Member Functions
static int	computeIndex (double x_, int nbInt_, double xMax_)
Private Attributes
unsigned int	idFactory
slam::BearingOnlySlam &	slam
jafar::hpm::Engine &	hpmEngineLoopClosing
	For loop closing.
OmniImageFrameDataBase	frameDataBase
jafar::datareader::ImageReader	dataBaseImageReader
bool	databaseImageAdded
double	databaseImageDistance
bool	loopClosingDetected
unsigned int	loopClosingFrameIndex
double	loopClosingImageDistance
unsigned int	loopClosingNbUsedFeatures
unsigned int	loopClosingElapsedTime
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	currentFrameIndex
	current frame number
jafar::datareader::ImageReader	imageReader
jafar::hpm::TrackingEngine &	hpmTrackingEngine
	For tracking points.
jafar::hpm::vecHarrisPoints	vecPointsPrev
jafar::hpm::vecHarrisPoints	vecPointsCur