jafar::traversability::Core Class Reference

This is the central object combining the specific functionalities of the utility objects of this module . More...

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Detailed Description

This is the central object combining the specific functionalities of the utility objects of this module .

It is supposed to carry out the traversability assessment. Aside from the buffer introduced in the Tracker class, the Core contains the following buffers. They have all the same size L, except for the buffer containing the matches which has size L-1.

Definition at line 31 of file trv_core.hpp.

#include <trv_core.hpp>

List of all members.

Public Member Functions
	Core (TrackerType ttype, int bufferSize, int imWidth, int imHeight, int winHalfWidth, int winHalfHeight, bool withGeomPrecalc=false)
void	setupGeometry (const PlaneParameters &plane, const CameraIntrinsicParameters &internals)
	Set the geometry of the camera model (internals) and the plane.
TrackerType	getTrackerType (void) const
void	setPose (const int idx, const CameraPoseParameters &camPose)
	Set pose to the (circular) buffer.
void	setImage (const int idx, const jafar::image::Image &_im)
	Set image to the (circular) buffer.
void	init (const int idx0, const int idx1)
	Important function.
jafar::image::Image	getImage (int idx) const
jafar::image::Image	getTrv (unsigned int idx=-1) const
	Get the traversability image.
jafar::image::Image	getImage0_1_fine (void) const
jafar::image::Image	getImage0_1_geom (void) const
jafar::image::Image	getMask1_fine (void) const
MatchesContainer *	getMatches (void)
void	calcTracker (jafar::image::Image &img0, jafar::image::Image &img1)
void	calcTracker (int step=1)
	Calculate the tracking.
void	calcHgeom (void)
	Calculate the geometric homography estimate using the data, on which the pointers point after the init function was called (and the data (image,pose) is set using the appropiate setters)
void	calcHfine (const jafar::image::Image &prevTravMask)
	Calculate the refined homography estimate using the data, on which the pointers point after the init function was called (and the data (image,pose) is set using the appropriate setters, and the tracker section was calculated...)
void	calcDensify (void)
	Calculate the traversability image using the densificator.
void	calcH_mosUpdate (int idx0, int idx1)
void	applyHomography (const jblas::mat33 &H_C0C1, const jafar::image::Image &img0, jafar::image::Image &img0_1)
jblas::mat33	getH_C0Cn (void)
	Get H_C0Cn for ACTUAL pair.
template<typename Type >
void	applyHomographyO (const jblas::mat33 &H_C0C1, const jafar::image::Image &img0, jafar::image::Image &img0_1, jafar::image::Image maskCFoV1)
Public Attributes
int	imBufferCnt
int	imBufferSize
jafar::image::Image *	imBuffer
int	poseBufferCnt
int	poseBufferSize
CameraPoseParameters *	poseBuffer
int	trvBufferCnt
int	trvBufferSize
jafar::image::Image *	trvBuffer
int	homBufferCnt
int	homBufferSize
jblas::mat33 *	homBuffer
int	preBufferCnt
int	preBufferSize
jblas::mat33 *	preBuffer
int	actIdx0
int	actIdx1
jafar::image::Image *	actIm0_ptr
jafar::image::Image *	actIm1_ptr
jafar::image::Image *	actMsk1_ptr
CameraPoseParameters *	actPose0_ptr
CameraPoseParameters *	actPose1_ptr
jafar::image::Image	im0_1_fine
jafar::image::Image	im0_1_geom
jafar::image::Image	mask1_fine
jafar::image::Image	mask1_geom
HomographyGeom	Hgeom
HomographyFine	Hfine
HomographyMosaic	Hmos
HomographyFine	HmosUpdate
HomographyGeom	HpreCalc
jblas::mat33	H_C0C1g
jblas::mat33	H_C1C0g
jblas::mat33	H_C0C1f
jblas::mat33	H_C1C0f
jblas::mat33	H_C0C1
jblas::mat33	H_C1C0
Tracker *	tracker
Densificator *	densificator
ImageInfo	imageInfo
bool	optWithGeomPrecalculation
Private Member Functions
void	updateHmosBasic (void)

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Member Function Documentation

void jafar::traversability::Core::calcHfine

(

const jafar::image::Image &

prevTravMask

)

Calculate the refined homography estimate using the data, on which the pointers point after the init function was called (and the data (image,pose) is set using the appropriate setters, and the tracker section was calculated...)

Parameters:

prevTravMask

void jafar::traversability::Core::calcTracker

(

int

step = 1

)

Calculate the tracking.

Step indicates the step size in the buffers! This step size by default is 1 (used for TrackerType::TRV_GFM), but can be changed for the other trackers!

Parameters:

step	between the entries in the buffers.

jafar::image::Image jafar::traversability::Core::getTrv

(

unsigned int

idx = -1

)

const [inline]

Get the traversability image.

Parameters:

idx	same index as associated to the second image/pose pair

Returns:

traversability image

Definition at line 157 of file trv_core.hpp.

References JFR_WARNING.

void jafar::traversability::Core::init	(	const int	idx0,
		const int	idx1
	)

Important function.

Sets the pointers to the actually used objects (images, pose data). Has to be called in each loop, before the actual processing is done

Parameters:

idx0	index of the first image/pose pair (the correct location in the buffer is handeled automatically)
idx1	index of the second image/pose pair (the correct location in the buffer is handeled automatically)

void jafar::traversability::Core::setImage	(	const int	idx,
		const jafar::image::Image &	_im
	)		[inline]

Set image to the (circular) buffer.

Only references will be considered, no copy of image!

Parameters:

idx	index associated with the image
_im	the image to be added to the buffer

Definition at line 138 of file trv_core.hpp.

void jafar::traversability::Core::setPose	(	const int	idx,
		const CameraPoseParameters &	camPose
	)		[inline]

Set pose to the (circular) buffer.

Parameters:

idx	index associated with the measurement
camPose	pose information

Definition at line 127 of file trv_core.hpp.

void jafar::traversability::Core::setupGeometry	(	const PlaneParameters &	plane,
		const CameraIntrinsicParameters &	internals
	)

Set the geometry of the camera model (internals) and the plane.

They are used if a geometric homography estimated (Hgeom)

Parameters:

plane	plane parameters of type PlaneParameters
internals	internal parameters of type CameraIntrinsicParameters

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

• modules/traversability/include/traversability/trv_core.hpp