Definition at line 19 of file trv_homographyOld.hpp.
Public Member Functions |
|
void | setImageInfo (const ImageInfo &imageInfo) |
|
void | setPlane (const PlaneParameters &plane) |
|
void | setInternals (const CameraIntrinsicParameters &internals) |
|
void | setPoseCam0 (const CameraPoseParameters &camPose0) |
|
void | setPoseCam1 (const CameraPoseParameters &camPose1) |
|
void | setImageCam0 (jafar::image::Image &img0) |
|
void | setImageCam1 (jafar::image::Image &img1) |
|
void | setDeltaPose (void) |
|
void | setDeltaPose (const CameraPoseParameters &camPose0, const CameraPoseParameters &camPose1) |
|
void | setH_C0Cn_geom (void) |
|
void | setH_C0Cn_fine (void) |
|
void | setH_CnC0_DEBUG (void) |
|
void | setMatches (MatchesContainer *matches) |
|
MatchesContainer * | getMatches (void) |
|
void | getPoseCam0 (CameraPoseParameters &camPose0) |
|
void | getPoseCam1 (CameraPoseParameters &camPose1) |
|
void | getDeltaPose (CameraDeltaParameters &delPars) |
|
void | getImageCam0 (jafar::image::Image &img0) |
|
void | getImageCam1 (jafar::image::Image &img1) |
|
jblas::mat33 | getH_C0C1_geom (void) |
|
jblas::mat33 | getH_C0C1_fine (void) |
|
jblas::mat33 | getH_C0Cn_geom (void) |
|
jblas::mat33 | getH_C0Cn_fine (void) |
|
jblas::mat33 | getH_C1C0_geom (void) |
|
jblas::mat33 | getH_C1C0_fine (void) |
|
jblas::mat33 | getH_CnC0_geom (void) |
|
jblas::mat33 | getH_CnC0_fine (void) |
|
double | getMeanProjError (void) |
|
double | getStdProjError (void) |
|
CameraPoseParameters | getPoseCam0 (void) |
|
CameraPoseParameters | getPoseCam1 (void) |
|
CameraDeltaParameters | getDeltaPose (void) |
|
jafar::image::Image | getImageCam0 (void) |
|
jafar::image::Image | getImageCam1 (void) |
|
void | printGeometricInfo (void) |
|
void | initMask (void) |
|
void | initMosaic (int mosaicWidth, int mosaicHeight, int startU=0, int startV=0) |
|
void | calcHomographyGeom (void) |
|
void | calcHomographyGeom (const CameraPoseParameters &camPose0, const CameraPoseParameters &camPose1, const CameraIntrinsicParameters &internals, const PlaneParameters &plane) |
|
void | estimateHomography (MatchesContainer *mc) |
|
void | estimateHomographyR (MatchesContainer *mc) |
|
void | estimateHomographyWithGeom (MatchesContainer *mc) |
|
void | applyHomography (jafar::image::Image &imgOut) |
|
void | applyHomography (const jblas::mat33 &H_C0C1, const jafar::image::Image &imgIn, jafar::image::Image &imgOut) |
|
void | addToTraversabilityMap (const jblas::mat33 &H_CnC0, const jafar::image::Image &imgTrvIn, const jafar::image::Image &imgIn, const jafar::image::Image &maskIn, jafar::image::Image &mosaicCntOut, jafar::image::Image &mosaicTrvOut) |
|
template<typename Type > |
| void | applyHomographyO (const jblas::mat33 &H_C0C1, const jafar::image::Image &imgIn, jafar::image::Image &imgOut, jafar::image::Image maskCFoV) |
|
void | addToMosaic (const jblas::mat33 &H_CnC0, const jafar::image::Image &imgIn, jafar::image::Image &mosaicOut) |
|
void | addCornersToMosaic (const jblas::mat33 &H_C0Cn, const jafar::image::Image &imgIn, jafar::image::Image &mosaicOut) |
|
void | calcHomographyDecomposition (const jblas::mat33 &H_C1C0, const jblas::mat33 K, jblas::mat33 &R_C1C0, jblas::vec3 &t_C1, jblas::vec3 &n_C0) |
|
void | calcProjErrorStatsOld (const jblas::mat33 &H_C0C1, const jafar::gfm::MatchingResult &rm) |
|
void | calcProjErrorStats (const jblas::mat33 &H_C0C1, const MatchesContainer &mc) |
Private Member Functions |
|
void | calcA_i (const double x0u, const double x0v, const double x1u, const double x1v, jblas::mat &A_i, const double weight=1.0) |
|
void | calcJ_i (const fdetect::InterestFeature *x0, const fdetect::InterestFeature *x1, jblas::mat &J_i) |
|
void | updatePlaneParameters (void) |
|
void | calcBoundingRect (const jblas::mat33 &H_COutCIn, const jafar::image::Image &imgIn, cv::Rect &boundingRect) |
|
void | shrinkBoundingRectToImage (const jafar::image::Image &img, cv::Rect &boundingRect) |
Private Attributes |
|
CameraPoseParameters | mPoseC0 |
|
CameraPoseParameters | mPoseC1 |
|
CameraIntrinsicParameters | mInternals |
|
PlaneParameters | mPlane |
|
ImageInfo | mImageInfo |
|
CameraDeltaParameters | mDeltaPoseC0C1 |
|
CameraDeltaParameters | mDeltaPoseC0Cn |
|
jblas::mat33 | mH_C0C1_geom |
|
jblas::mat33 | mH_C0C1_fine |
|
jblas::mat33 | mH_C0Cn_geom |
|
jblas::mat33 | mH_C0Cn_fine |
|
jblas::mat33 | mDEBUG |
|
jafar::image::Image | mImg0 |
|
jafar::image::Image | mImg1 |
|
jafar::image::Image | mCFoVMask |
|
MatchesContainer * | mMatches |
|
jblas::vec | mProjError |
|
double | mMeanProjError |
|
double | mStdProjError |
