jafar::traversability::HomographyFine Class Reference

HomographyFine inherits from Homography. More...

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Detailed Description

HomographyFine inherits from Homography.

It contains the means to estimate an homography given a set of correspondences [m_k,m'_k] which are passed in form of a MatchingContainer .

Definition at line 27 of file trv_homographyFine.hpp.

#include <trv_homographyFine.hpp>

Inheritance diagram for jafar::traversability::HomographyFine:

List of all members.

Public Member Functions
	HomographyFine (const HomographyGeom &Hgeom)
void	printInfo (void) const
int	setMatches (MatchesContainer *matches)
MatchesContainer	getMatches (void)
void	estimate (void)
void	estimateR (void)
void	estimateRANSAC (void)
void	estimateWithGeom (const jblas::mat33 &H_C0C1_geom)
double	getMeanProjError (void)
double	getStdProjError (void)
void	calcProjErrorStats (const jblas::mat33 H01, double &mean, double &stdev)
void	sortOutMatches (const jafar::image::Image &mask)
Private Member Functions
template<class Mat >
void	calcA_i (const double x0u, const double x0v, const double x1u, const double x1v, Mat &A_i, const double weight=1.0)
void	calcH4p (const MatchesContainer *mc, const jblas::veci4 &idxVec, jblas::mat33 &H_C0C1)
void	pointSelectionCriteria (const int idx, const MatchesContainer *matches, jblas::veci4 &idxVec, int &featCnt, const double minDistSq, const double minCrossP)
Private Attributes
MatchesContainer *	mMatches
jblas::vec	mProjError
double	mMeanProjError
double	mStdProjError

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

• modules/traversability/include/traversability/trv_homographyFine.hpp