This class represents the actual interface between the modules and gfm and traversability. More...

Detailed Description

This class represents the actual interface between the modules and gfm and traversability.

Using the constructor the output of a gfm engine is translated into a suitable format. Additionally, the set of point-to-point matches can be normalized (and denormalized). Note that a dynamic (using statistics of the atches) and a static (using values defined once) normalization is distinguished.

Definition at line 304 of file trv_util.hpp.

#include <trv_util.hpp>

List of all members.

Public Member Functions
	MatchesContainer ()
	Zero constructor, containing no data.
	MatchesContainer (const jafar::gfm::MatchingResult &rm, int width=-1, int height=-1)
	Constructor translating the output object of gfm.
	MatchesContainer (MatchesContainer *mcBuffer[], int idx0, int idx1, int bufferSize, int width=-1, int height=-1)
	MatchesContainer (const KLT_FeatureTable &ft, int idx0, int idx1, int width=-1, int height=-1)
	Constructor constructing the matches container from a KLT feature table.
	MatchesContainer (jblas::mat &points_ref, jblas::mat &points_mat, int width=-1, int height=-1)
	Constructor taking the matches directly as matrix objects.
	MatchesContainer (const MatchesContainer &mc)
	Copy constructor performing a deep copy!
void	printInfo (void)
	Print out statistics and states of instances.
void	normalize (void)
	Normalize both points_ref and points_match.
void	denormalize (void)
	Undo the normalization.
jblas::mat33	denormalizeHom (jblas::mat33 H01)
	A homography estimated with normalized data has to be updated with this function.
jblas::mat *	points_ref (void)
jblas::mat *	points_match (void)
double	point_ref_u (int idx) const
	Get u of point_ref indexed by idx.
double	point_ref_v (int idx) const
	Get v of point_ref indexed by idx.
double	point_match_u (int idx) const
	Get u of point_match indexed by idx.
double	point_match_v (int idx) const
	Get v of point_match indexed by idx.
int	nOfMatches (void) const
int	id (int idx) const
	Get the identifier of the pair of match given by idx.
bool	isNormalized (void) const
void	setWeight (const double weight, const int idx)
void	setPartition (const int partition, const int idx)
double	getWeight (const int idx) const
int	getPartition (const int idx)
jblas::vec *	weights (void)
Private Member Functions
void	calcInfo (int width=-1, int height=-1)
	Calculate statistics (if necessary).
int	countTrackedFeatures (KLT_FeatureTable ft, int idx0, int idx1)
Private Attributes
jblas::mat	mPoints_ref
jblas::mat	mPoints_match
jblas::veci	mIdentifier
jblas::veci	mPartition
jblas::vec	mWeight
MatchesInfo	mInfo
bool	mIsNormalized
bool	mIsStaticallyNormalized

Constructor & Destructor Documentation

jafar::traversability::MatchesContainer::MatchesContainer	(	const jafar::gfm::MatchingResult &	rm,
		int	width = `-1`,
		int	height = `-1`
	)

Constructor translating the output object of gfm.

If the arguments width and height are passed exlicitely, the constructor sets the static normalization mode where no data statistics is exploited in order to perform the normalization. Static normalization is faster for large amount of features. The default value for width and height is -1. If any of those arguments is set to -1, the normalization is performed based on the features themselves (see calcInfo).

Parameters:

rm	result of matcher of type gfm::MatchingResult
width	width factor defining the normalization parameters, default value -1
height	height factor defining the normalization parameters, default value -1

jafar::traversability::MatchesContainer::MatchesContainer	(	const KLT_FeatureTable &	ft,
		int	idx0,
		int	idx1,
		int	width = `-1`,
		int	height = `-1`
	)

Constructor constructing the matches container from a KLT feature table.

Parameters:

ft	feature table of type KLT_FEatureTable, consisting of data for at least two frames
idx0	idx of frame 0, for a two-frame table: 0
idx1	idx of frame 1, for a two-frame table: 1
width	width factor, pass only if data has to be normalized statically, default: -1
height	height factor, pass only if data has to be normalized statically, default: -1

jafar::traversability::MatchesContainer::MatchesContainer	(	jblas::mat &	points_ref,
		jblas::mat &	points_mat,
		int	width = `-1`,
		int	height = `-1`
	)

Constructor taking the matches directly as matrix objects.

Parameters:

points_ref	reference points (image 0)
points_mat	matched points (image 1)
width	image width, pass only if data has to be normalized statically, default: -1
height	image height, pass only if data has to be normalized statically, default: -1

jafar::traversability::MatchesContainer::MatchesContainer ( const MatchesContainer & mc )

Copy constructor performing a deep copy!

Parameters:

mc	of class MatchesContainer

Member Function Documentation

void jafar::traversability::MatchesContainer::calcInfo	(	int	width = `-1`,
		int	height = `-1`
	)		`[private]`

Calculate statistics (if necessary).

If width<0 or height<0 static info is calculated.

void jafar::traversability::MatchesContainer::denormalize ( void )

Undo the normalization.

It is assumed that the data already was normalized before.

jblas::mat33 jafar::traversability::MatchesContainer::denormalizeHom ( jblas::mat33 H01 )

A homography estimated with normalized data has to be updated with this function.

Parameters:

H01	Homography from camera 1 to camera camera 0

Returns:: Updated homography from camera 1 to camera 0

int jafar::traversability::MatchesContainer::id ( int idx ) const [inline]

Get the identifier of the pair of match given by idx.

Parameters:

idx	index of match pair

Returns:: identifier of match pair

Definition at line 425 of file trv_util.hpp.

bool jafar::traversability::MatchesContainer::isNormalized ( void ) const [inline]

Returns:: false if not normalized, true if normalized

Definition at line 429 of file trv_util.hpp.

int jafar::traversability::MatchesContainer::nOfMatches ( void ) const [inline]

Returns:: number of matches.

Definition at line 419 of file trv_util.hpp.

void jafar::traversability::MatchesContainer::normalize ( void )

Normalize both points_ref and points_match.

The points will be transformed such that the centroids lie around (0,0) and the standard deviation of the point scatter is sqrt(2). In the static mode, the statistics are replaced by predefined, heuristically determined paramters.

double jafar::traversability::MatchesContainer::point_match_u ( int idx ) const [inline]

Get u of point_match indexed by idx.

Parameters:

idx	match index

Returns:: u of point_match

Definition at line 409 of file trv_util.hpp.

double jafar::traversability::MatchesContainer::point_match_v ( int idx ) const [inline]

Get v of point_match indexed by idx.

Parameters:

idx	match index

Returns:: u of point_match

Definition at line 415 of file trv_util.hpp.

double jafar::traversability::MatchesContainer::point_ref_u ( int idx ) const [inline]

Get u of point_ref indexed by idx.

Parameters:

idx	match index

Returns:: u of point_ref

Definition at line 397 of file trv_util.hpp.

double jafar::traversability::MatchesContainer::point_ref_v ( int idx ) const [inline]

Get v of point_ref indexed by idx.

Parameters:

idx	match index

Returns:: u of point_ref

Definition at line 403 of file trv_util.hpp.

jblas::mat* jafar::traversability::MatchesContainer::points_match ( void ) [inline]

Returns:: pointer to points_match

Definition at line 391 of file trv_util.hpp.

jblas::mat* jafar::traversability::MatchesContainer::points_ref ( void ) [inline]

Returns:: pointer to points_ref

Definition at line 387 of file trv_util.hpp.

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

modules/traversability/include/traversability/trv_util.hpp

Detailed Description

Public Member Functions

Private Member Functions

Private Attributes

Constructor & Destructor Documentation

Member Function Documentation