jafar::slampt::StereoImagePointManager Class Reference

Class for stereovision slam with a stereovision bench and when features are interest points extracted from an image. More...

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Detailed Description

Class for stereovision slam with a stereovision bench and when features are interest points extracted from an image.

Definition at line 545 of file imagePointManager.hpp.

#include <imagePointManager.hpp>

Inheritance diagram for jafar::slampt::StereoImagePointManager:

List of all members.

Public Member Functions
	StereoImagePointManager (slam::BaseSlam &slam_, jafar::hpm::Engine &hpmEngineLoopClosing_, jafar::hpm::StereoTrackingEngine &hpmTrackingEngine_, jafar::datareader::StereoReader *stereoReader_, kernel::IdFactory<> *_idFactory=0)
slam::Observation::ObservationType	getObservationType () const
jafar::hpm::vecStereoHarrisPoints const &	getCurrentPoints () const
jafar::hpm::vecStereoHarrisPoints const &	getPreviousPoints () const
jafar::hpm::vecStereoHarrisPoints const &	getStereoPoints () const
void	initFrame (unsigned int frameIndex_, unsigned int robotId_=0, unsigned int sensorId_=0)
void	initFrame (unsigned int frameIndex_, jafar::image::Image *imgLeft, jafar::image::Image *imgRight, unsigned int robotId_=0, unsigned int sensorId_=0)
void	processFrame (unsigned int frameIndex_, unsigned int robotId_=0, unsigned int sensorId_=0)
void	processFrame (unsigned int frameIndex_, jafar::image::Image *imgLeft, jafar::image::Image *imgRight, unsigned int robotId_=0, unsigned int sensorId_=0)
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 (slam::BaseFeature const &landmark)
Static Protected Member Functions
static bool	checkRectification (hpm::StereoHarrisPoint const &leftPt, hpm::StereoHarrisPoint const &rightPt)
static bool	checkDisparity (hpm::StereoHarrisPoint const &leftPt, hpm::StereoHarrisPoint const &rightPt)
Protected Attributes
unsigned int	lastUsedRobot
jafar::datareader::StereoReader *	stereoReader
jafar::hpm::StereoTrackingEngine &	hpmTrackingEngine
jafar::hpm::vecStereoHarrisPoints	vecPointsPrev
jafar::hpm::vecStereoHarrisPoints	vecPointsCur
jafar::hpm::vecStereoHarrisPoints	vecPointsStereo

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

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