jafar::traversability::HomographyGeom Class Reference

This class inherited from class Module homography and performs the calculation of an homography given the related camera poses, the intrinsic camera parameters and the plane parameters. More...

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Detailed Description

This class inherited from class Module homography and performs the calculation of an homography given the related camera poses, the intrinsic camera parameters and the plane parameters.

Definition at line 22 of file trv_homographyGeom.hpp.

#include <trv_homographyGeom.hpp>

Inheritance diagram for jafar::traversability::HomographyGeom:

List of all members.

Public Member Functions
	HomographyGeom (void)
	The constructor initializes the members as "all-zero-valued" objects.
void	printInfo (void) const
	Print some basic info about the actual configuration.
void	setPlane (const PlaneParameters &plane)
	Set the plane parameters passed in the object PlaneParameters.
void	setInternals (const CameraIntrinsicParameters &internals)
	Set the intrinsic parameters assembled in the object CameraIntrinsicParameters.
void	setPose (const CameraPoseParameters &poseC0, const CameraPoseParameters &poseC1)
	Set the pose containers of type CameraPoseParameters and calculate the object CameraDeltaParameters containing the necessary input data for method calc.
void	calc (void)
	The method calculates a homography given the pose data which have been set with the help of method setPose.
void	calc (const CameraPoseParameters &poseC0, const CameraPoseParameters &poseC1)
	This is a short cut combining setPose and calc.
CameraPoseParameters	getPoseCam0 (void) const
CameraPoseParameters	getPoseCam1 (void) const
CameraDeltaParameters	getDeltaPose (void) const
Private Member Functions
void	updatePlaneParameters (void)
	The plane parameters object contains the distances from the cameras to the plane.
Private Attributes
CameraPoseParameters	mPoseC0
CameraPoseParameters	mPoseC1
CameraIntrinsicParameters	mInternals
PlaneParameters	mPlane
ImageInfo	mImageInfo
CameraDeltaParameters	mDeltaPoseC0C1
CameraDeltaParameters	mDeltaPoseC0Cn

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Member Function Documentation

void jafar::traversability::HomographyGeom::calc	(	const CameraPoseParameters &	poseC0,
		const CameraPoseParameters &	poseC1
	)

This is a short cut combining setPose and calc.

Parameters:

poseC0	of type CameraDeltaParameters defining camera pose 0
poseC1	of type CameraDeltaParameters defining camera pose 1

void jafar::traversability::HomographyGeom::setPose	(	const CameraPoseParameters &	poseC0,
		const CameraPoseParameters &	poseC1
	)

Set the pose containers of type CameraPoseParameters and calculate the object CameraDeltaParameters containing the necessary input data for method calc.

Parameters:

poseC0	of type CameraDeltaParameters defining camera pose 0
poseC1	of type CameraDeltaParameters defining camera pose 1

void jafar::traversability::HomographyGeom::updatePlaneParameters

(

void

)

[private]

The plane parameters object contains the distances from the cameras to the plane.

This parameter has to be updated for each new pose configuration.

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

• modules/traversability/include/traversability/trv_homographyGeom.hpp