jafar::traversability::Densificator Class Reference

The Densificator is the unit that retrieves dense traversability information given the image I_i and the projection I_i^j of image I_j. More...

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Detailed Description

The Densificator is the unit that retrieves dense traversability information given the image I_i and the projection I_i^j of image I_j.

In order to efficiently skip the pixels that do not lie in the common field of view, a mask T_i has to be passed that indicates the region that is shared in both images. The Densificator returns an image containing the result of the local traversability assessment.

Definition at line 22 of file trv_densificator.hpp.

#include <trv_densificator.hpp>

List of all members.

Public Member Functions
	Densificator (int winHalfWidth, int winHalfHeight)
	Constructor, that takes (only) two arguments:
void	calc (const jafar::image::Image &im0, const jafar::image::Image &im1, jafar::image::Image &mask, jafar::image::Image &imZncc)
	This is an optimized method to calculate the local traversability image.
Private Attributes
int	mWinHalfWidth
int	mWinHalfHeight
cv::Rect	mWinRect

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Constructor & Destructor Documentation

jafar::traversability::Densificator::Densificator	(	int	winHalfWidth,
		int	winHalfHeight
	)		[inline]

Constructor, that takes (only) two arguments:

Parameters:

winHalfWidth	half width of the window, in which the zncc-score is calculated
winHalfHeight	half height of the window, in which the zncc-score is calculated

Definition at line 36 of file trv_densificator.hpp.

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Member Function Documentation

void jafar::traversability::Densificator::calc	(	const jafar::image::Image &	im0,
		const jafar::image::Image &	im1,
		jafar::image::Image &	mask,
		jafar::image::Image &	imZncc
	)

This is an optimized method to calculate the local traversability image.

The alogrithm is explained in more details in the Master Thesis of Norman Juchler Basically, it takes two registered images im0 and im1, and mask which should indicate the common field of view between the two registered images.

There are some parameters to change within the function calc(), look the corresponding .cpp file for more details !!!

Parameters:

im0	input image 0
im1	input image 1
mask	common field of view between images 0 and 1
imZncc	resulting image depicting local traversability information gained by the densificator

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

• modules/traversability/include/traversability/trv_densificator.hpp