Mosaic represents a mosaic of aerial images. More...

Detailed Description

Mosaic represents a mosaic of aerial images.

Internally, the ``cumulative'' homography H_{I_OI_n} between the first image I_0 and the actual I_n is maintained by an instantiation of HomographyMosaic . The mosaic image is stored in an image of type Image. (So the image is defined statically.) In a later step, the mosaic image should be made dynamic.

Definition at line 21 of file trv_mosaic.hpp.

#include <trv_mosaic.hpp>

Inheritance diagram for jafar::traversability::Mosaic:

[legend]

List of all members.

Public Member Functions
	Mosaic (int mosaicWidth, int mosaicHeight, int uShift=0, int vShift=0, JfrImage_TypeColorSpace colSpace=JfrImage_CS_GRAY)
	Constructor.
jafar::image::Image	get (void)
	Returns the mosaic image.
jblas::mat33	getH_C0Cn (void)
	Returns the actual "cumulative" homography H_{I_OI_n}.
void	setH_C0Cn (const jblas::mat33 &H_C0Cn)
	Set the "cumulative" homography from outside (for experimental purposes)
void	update (const jblas::mat33 &H_C0C1)
	Update the "cumulative" homography by appending the last interframe homography H_C0C1.
void	initMosaic (int mosaicWidth, int mosaicHeight, float uShift, float vShift)
	Set the homography to $\left( \begin{array}{ccc} 1 & 0 & \mathtt{mosaicWidth/2.0 + uShift} \\ 0 & 1 & \mathtt{mosaicHeight/2.0 + vShift} \\ 0 & 0 & 1 \end{array} \right)$ .
void	reset (float uShift=0.0, float vShift=0.0)
	Same as initMosaic, but additionally sets the mosaic image to zero.
void	add (const jafar::image::Image &imgIn, const jafar::image::Image &imgMsk1)
	Add a frame to the mosaic.
void	addCorners (const jafar::image::Image &imgIn)
	Utility function to indicate the corners of the image.
Protected Member Functions
void	calcBoundingRect (const jblas::mat33 &H_COutCIn, const jafar::image::Image &imgIn, cv::Rect &boundingRect)
	Calculate the bounding rectangle which contains the actual image (that has to be added to the mosaic) With the help of the bounding rectangle, one does not have to iterate through all pixels of the mosaic image in order to add an image to the mosaic.
void	shrinkBoundingRectToImage (const jafar::image::Image &img, cv::Rect &boundingRect)
	Shrink the bounding rectangle to the visible area of the mosaic.
Protected Attributes
jafar::image::Image	mMosaic
HomographyMosaic	mH_mosaic
int	mNumberOfTiles
cv::Rect	mBb

Constructor & Destructor Documentation

jafar::traversability::Mosaic::Mosaic	(	int	mosaicWidth,
		int	mosaicHeight,
		int	uShift = `0`,
		int	vShift = `0`,
		JfrImage_TypeColorSpace	colSpace = `JfrImage_CS_GRAY`
	)

Constructor.

It instantiates the image object where the mosaic is stored, and initializes the "cumulative" homography H_{I_OI_n}, taking into account a shift to place the first image of the mosaic to the desired spot. (By default, the homography starts in the image center.)

Parameters:

mosaicWidth	width of the mosaic image
mosaicHeight	height of the mosaic image
uShift	shift in u direction, in pixels, default value is 0
vShift	shift in v direction, in pixels, default value is 0
colSpace	color space of the mosaic image, default value is JfrImage_CS_GRAY

Member Function Documentation

void jafar::traversability::Mosaic::add	(	const jafar::image::Image &	imgIn,
		const jafar::image::Image &	imgMsk1
	)

Add a frame to the mosaic.

The "cumulative" homography H_C0Cn is used to project the image imgIn to the mosaic.

Parameters:

imgIn	image to be added
imgMsk1	mask that indicates the common field of view between imgIn and the precedent image Note that the imgMsk1 is not really needed for this function... However, it saves a few calculations.

void jafar::traversability::Mosaic::addCorners ( const jafar::image::Image & imgIn )

Utility function to indicate the corners of the image.

Parameters:

imgIn image, whose corners have to be added

void jafar::traversability::Mosaic::calcBoundingRect	(	const jblas::mat33 &	H_COutCIn,
		const jafar::image::Image &	imgIn,
		cv::Rect &	boundingRect
	)		`[protected]`

Calculate the bounding rectangle which contains the actual image (that has to be added to the mosaic) With the help of the bounding rectangle, one does not have to iterate through all pixels of the mosaic image in order to add an image to the mosaic.

Parameters:

H_COutCIn	homography between input image and mosaic (H_C0Cn)
imgIn	input image
boundingRect	resulting bounding rectangle, returned by reference

jafar::image::Image jafar::traversability::Mosaic::get ( void ) [inline]

Returns the mosaic image.

Returns:: image of type jafar::image::Image

Definition at line 51 of file trv_mosaic.hpp.

jblas::mat33 jafar::traversability::Mosaic::getH_C0Cn ( void ) [inline]

Returns the actual "cumulative" homography H_{I_OI_n}.

Returns:: jblas::mat33 H_{I_OI_n}

Definition at line 56 of file trv_mosaic.hpp.

void jafar::traversability::Mosaic::initMosaic	(	int	mosaicWidth,
		int	mosaicHeight,
		float	uShift,
		float	vShift
	)

Set the homography to $\left( \begin{array}{ccc} 1 & 0 & \mathtt{mosaicWidth/2.0 + uShift} \\ 0 & 1 & \mathtt{mosaicHeight/2.0 + vShift} \\ 0 & 0 & 1 \end{array} \right)$ .

Parameters:

mosaicWidth	width of mosaic image
mosaicHeight	height of mosaic image
uShift	shift in u direction
vShift	shift in v direciton

void jafar::traversability::Mosaic::reset	(	float	uShift = `0.0`,
		float	vShift = `0.0`
	)

Same as initMosaic, but additionally sets the mosaic image to zero.

"mosaicWidth" and "mosaicHeight" are retrieved here from the mosaic image object.

Parameters:

uShift	shift in u direction
vShift	shift in v direction

void jafar::traversability::Mosaic::setH_C0Cn ( const jblas::mat33 & H_C0Cn ) [inline]

Set the "cumulative" homography from outside (for experimental purposes)

Parameters:

H_C0Cn 3x3 matrix of type jblas::mat33

Definition at line 62 of file trv_mosaic.hpp.

void jafar::traversability::Mosaic::shrinkBoundingRectToImage	(	const jafar::image::Image &	img,
		cv::Rect &	boundingRect
	)		`[protected]`

Shrink the bounding rectangle to the visible area of the mosaic.

Parameters:

img	(mosaic) image (only needed for its dimensions)
boundingRect	bounding rectangle, calculated with calcBoundingRect

void jafar::traversability::Mosaic::update ( const jblas::mat33 & H_C0C1 ) [inline]

Update the "cumulative" homography by appending the last interframe homography H_C0C1.

Parameters:

H_C0C1 of type jblas::mat33

Definition at line 67 of file trv_mosaic.hpp.

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

modules/traversability/include/traversability/trv_mosaic.hpp

Detailed Description

Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

Member Function Documentation