BIAS::CylindricDepthTrackingPanorama Class Reference

#include <Image/CylindricDepthTrackingPanorama.hh>

Inheritance diagram for BIAS::CylindricDepthTrackingPanorama:

Collaboration diagram for BIAS::CylindricDepthTrackingPanorama:

Public Member Functions
	CylindricDepthTrackingPanorama (const Projection &initialProjection, unsigned int channels, float depthScale_=1.0)
int	GetMappedImages (BIAS::Image< float > &image, BIAS::Image< unsigned char > &texture)
int	GetPanorama (BIAS::Image< float > &image, BIAS::Image< unsigned char > &texture)
int	GetTriangleMesh (BIAS::TriangleMesh &mesh)
int	Init (const Projection &iP, unsigned int channels)
int	Init (const ProjectionParametersCylindric &iP, unsigned int channels)
int	LoadPanorama (const std::string filename)
int	ProcessCylindricProjection (BIAS::Image< float > &depthMap, BIAS::Projection &p, BIAS::Image< unsigned char > *texture=NULL)
	Call Process to update the measurement. More...
int	ProcessCylindricProjection (BIAS::Image< float > &depthMap, BIAS::Projection &p, BIAS::Image< unsigned char > *texture=NULL, bool useProjection=true)
	Call Process to update the measurement. More...
int	SavePanorama (const std::string filename)
void	SetFillArea (int area)
virtual	~CylindricDepthTrackingPanorama ()

Protected Attributes
bool	bCostImageCreated_
bool	bFirstPoseSet_
bool	bTextureFilled_
BIAS::Image< float >	costIm_
BIAS::Image< float >	destDepth_
BIAS::Image< unsigned char >	destTex_
BIAS::Image< unsigned char >	difference_
int	dOffsetX_
int	dOffsetY_
unsigned int	dTexChannels_
float	fDepthScale_
unsigned	fillArea_
bool	inited_
BIAS::Projection	initialProjection_
BIAS::MixtureOfGaussians< float > *	mog_
BIAS::Image< float >	panorama_
unsigned int	panoramaHeight_
BIAS::Image< float >	panoramaHitCount_
BIAS::Image< float >	panoramaNonStatic_
BIAS::Image< unsigned char >	panoramaNonStaticTexture_
BIAS::Image< unsigned char >	panoramaTexture_
BIAS::Image< float >	panoramaVarianz_
unsigned int	panoramaWidth_
BIAS::ProjectionParametersCylindric *	pCylinderProj_
BIAS::ProjectionMapping< float, float >	projectionMappingFL_
BIAS::ProjectionMapping < unsigned char, unsigned char >	projectionMappingUC_
BIAS::Image< unsigned char >	visualisation_

Detailed Description

Definition at line 13 of file CylindricDepthTrackingPanorama.hh.

Constructor & Destructor Documentation

BIAS::CylindricDepthTrackingPanorama::CylindricDepthTrackingPanorama	(	const Projection &	initialProjection,
		unsigned int	channels,
		float	depthScale_ = 1.0
	)

Definition at line 14 of file CylindricDepthTrackingPanorama.cpp.

References dTexChannels_, fDepthScale_, BIAS::Image< StorageType >::Init(), BIAS::MixtureOfGaussians< StorageType >::InitWeights(), mog_, BIAS::CylindricDepthPanorama::panoramaHeight_, panoramaNonStatic_, panoramaNonStaticTexture_, BIAS::CylindricDepthPanorama::panoramaWidth_, and BIAS::MixtureOfGaussians< StorageType >::SetSmoothing().

BIAS::CylindricDepthTrackingPanorama::~CylindricDepthTrackingPanorama ( )

virtual

Definition at line 28 of file CylindricDepthTrackingPanorama.cpp.

Member Function Documentation

int CylindricDepthPanorama::GetMappedImages ( BIAS::Image< float > &  image, BIAS::Image< unsigned char > &  texture  )

inherited

Definition at line 242 of file CylindricDepthPanorama.cpp.

int BIAS::CylindricDepthTrackingPanorama::GetPanorama	(	BIAS::Image< float > &	image,
		BIAS::Image< unsigned char > &	texture
	)

Definition at line 374 of file CylindricDepthTrackingPanorama.cpp.

References dTexChannels_, BIAS::Image< StorageType >::GetImageDataArray(), BIAS::CylindricDepthPanorama::GetPanorama(), BIAS::BIASBlob::LR, panoramaNonStatic_, panoramaNonStaticTexture_, and BIAS::BIASBlob::UL.

int BIAS::CylindricDepthTrackingPanorama::GetTriangleMesh

(

BIAS::TriangleMesh &

mesh

)

Definition at line 179 of file CylindricDepthTrackingPanorama.cpp.

References BIAS::CylindricDepthPanorama::bTextureFilled_, BIAS::Image< StorageType >::FillImageWithConstValue(), BIAS::Rescale< InputStorageType, OutputStorageType >::Filter(), BIAS::TriangleMesh::GenerateDenseMesh(), BIAS::ImageBase::GetHeight(), BIAS::Image< StorageType >::GetImageDataArray(), BIAS::ImageBase::GetWidth(), BIAS::CylindricDepthPanorama::initialProjection_, BIAS::FileHandling::LeadingZeroString(), BIAS::LPT_Gauss, BIAS::CylindricDepthPanorama::panorama_, BIAS::CylindricDepthPanorama::panoramaHeight_, BIAS::CylindricDepthPanorama::panoramaTexture_, BIAS::CylindricDepthPanorama::panoramaWidth_, BIAS::Projection::Rescale(), BIAS::ImageIO::Save(), SavePanorama(), BIAS::Rescale< InputStorageType, OutputStorageType >::SetFactor(), and BIAS::Rescale< InputStorageType, OutputStorageType >::SetLowPassType().

int CylindricDepthPanorama::Init ( const Projection &  iP, unsigned int  channels  )

inherited

Definition at line 50 of file CylindricDepthPanorama.cpp.

References BIAS::Projection::GetParameters(), BIAS::ProjectionParametersBase::GetPose(), and BIAS::ProjectionParametersBase::SetPose().

int CylindricDepthPanorama::Init ( const ProjectionParametersCylindric &  iP, unsigned int  channels  )

inherited

Definition at line 42 of file CylindricDepthPanorama.cpp.

int BIAS::CylindricDepthTrackingPanorama::LoadPanorama

(

const std::string

filename

)

Definition at line 148 of file CylindricDepthTrackingPanorama.cpp.

References BIAS::MixtureOfGaussians< StorageType >::Apply(), BIAS::CylindricDepthPanorama::bTextureFilled_, BIAS::ImageIO::Load(), mog_, BIAS::CylindricDepthPanorama::panorama_, BIAS::CylindricDepthPanorama::panoramaHitCount_, and BIAS::CylindricDepthPanorama::panoramaTexture_.

int BIAS::CylindricDepthTrackingPanorama::ProcessCylindricProjection	(	BIAS::Image< float > &	depthMap,
		BIAS::Projection &	p,
		BIAS::Image< unsigned char > *	texture = NULL
	)

Call Process to update the measurement.

Definition at line 33 of file CylindricDepthTrackingPanorama.cpp.

References BIAS::CylindricDepthPanorama::bFirstPoseSet_, fDepthScale_, BIAS::ImageBase::GetHeight(), BIAS::Image< StorageType >::GetImageDataArray(), BIAS::Projection::GetParameters(), BIAS::ProjectionParametersBase::GetPose(), BIAS::ImageBase::GetWidth(), BIAS::CylindricDepthPanorama::initialProjection_, BIAS::CylindricDepthPanorama::pCylinderProj_, BIAS::ProjectionParametersBase::SetPose(), and BIAS::ImageBase::SetROICorners().

int CylindricDepthPanorama::ProcessCylindricProjection ( BIAS::Image< float > &  depthMap, BIAS::Projection &  p, BIAS::Image< unsigned char > *  texture = NULL, bool  useProjection = true  )

inherited

Call Process to update the measurement.

Definition at line 86 of file CylindricDepthPanorama.cpp.

References BIAS::ImageConvert::ConvertST(), BIAS::ImageBase::GetHeight(), BIAS::Image< StorageType >::GetImageDataArray(), BIAS::ImageBase::GetWidth(), BIAS::HomgPoint2D::Homogenize(), BIAS::FileHandling::LeadingZeroString(), BIAS::ForwardMappingNearestNeighbour< InputStorageType, OutputStorageType >::Map(), BIAS::ImageIO::Save(), BIAS::ForwardMappingNearestNeighbour< InputStorageType, OutputStorageType >::SetFillAreaWindowSize(), BIAS::ForwardMappingNearestNeighbour< InputStorageType, OutputStorageType >::SetSinkCam(), BIAS::ForwardMappingNearestNeighbour< InputStorageType, OutputStorageType >::SetSourceCam(), BIAS::ImageBase::ST_float, BIAS::ImageBase::ST_unsignedchar, and BIAS::Projection::UnProjectToPoint().

int BIAS::CylindricDepthTrackingPanorama::SavePanorama

(

const std::string

filename

)

Definition at line 162 of file CylindricDepthTrackingPanorama.cpp.

References BIAS::CylindricDepthPanorama::panorama_, BIAS::CylindricDepthPanorama::panoramaHitCount_, BIAS::CylindricDepthPanorama::panoramaTexture_, and BIAS::ImageIO::Save().

Referenced by GetTriangleMesh().

void CylindricDepthPanorama::SetFillArea ( int  area )

inherited

Definition at line 81 of file CylindricDepthPanorama.cpp.

Member Data Documentation

bool BIAS::CylindricDepthPanorama::bCostImageCreated_

protectedinherited

Definition at line 84 of file CylindricDepthPanorama.hh.

bool BIAS::CylindricDepthPanorama::bFirstPoseSet_

protectedinherited

Definition at line 99 of file CylindricDepthPanorama.hh.

Referenced by ProcessCylindricProjection().

bool BIAS::CylindricDepthPanorama::bTextureFilled_

protectedinherited

Definition at line 99 of file CylindricDepthPanorama.hh.

Referenced by GetTriangleMesh(), and LoadPanorama().

BIAS::Image<float> BIAS::CylindricDepthPanorama::costIm_

protectedinherited

Definition at line 91 of file CylindricDepthPanorama.hh.

BIAS::Image<float> BIAS::CylindricDepthPanorama::destDepth_

protectedinherited

Definition at line 88 of file CylindricDepthPanorama.hh.

BIAS::Image<unsigned char> BIAS::CylindricDepthPanorama::destTex_

protectedinherited

Definition at line 89 of file CylindricDepthPanorama.hh.

BIAS::Image<unsigned char> BIAS::CylindricDepthTrackingPanorama::difference_

protected

Definition at line 38 of file CylindricDepthTrackingPanorama.hh.

int BIAS::CylindricDepthPanorama::dOffsetX_

protectedinherited

Definition at line 97 of file CylindricDepthPanorama.hh.

int BIAS::CylindricDepthPanorama::dOffsetY_

protectedinherited

Definition at line 97 of file CylindricDepthPanorama.hh.

unsigned int BIAS::CylindricDepthTrackingPanorama::dTexChannels_

protected

Definition at line 39 of file CylindricDepthTrackingPanorama.hh.

Referenced by CylindricDepthTrackingPanorama(), and GetPanorama().

float BIAS::CylindricDepthTrackingPanorama::fDepthScale_

protected

Definition at line 40 of file CylindricDepthTrackingPanorama.hh.

Referenced by CylindricDepthTrackingPanorama(), and ProcessCylindricProjection().

unsigned BIAS::CylindricDepthPanorama::fillArea_

protectedinherited

Definition at line 83 of file CylindricDepthPanorama.hh.

bool BIAS::CylindricDepthPanorama::inited_

protectedinherited

Definition at line 99 of file CylindricDepthPanorama.hh.

BIAS::Projection BIAS::CylindricDepthPanorama::initialProjection_

protectedinherited

Definition at line 94 of file CylindricDepthPanorama.hh.

Referenced by GetTriangleMesh(), and ProcessCylindricProjection().

BIAS::MixtureOfGaussians<float>* BIAS::CylindricDepthTrackingPanorama::mog_

protected

Definition at line 36 of file CylindricDepthTrackingPanorama.hh.

Referenced by CylindricDepthTrackingPanorama(), and LoadPanorama().

BIAS::Image<float> BIAS::CylindricDepthPanorama::panorama_

protectedinherited

Definition at line 85 of file CylindricDepthPanorama.hh.

Referenced by GetTriangleMesh(), LoadPanorama(), and SavePanorama().

unsigned int BIAS::CylindricDepthPanorama::panoramaHeight_

protectedinherited

Definition at line 96 of file CylindricDepthPanorama.hh.

Referenced by CylindricDepthTrackingPanorama(), and GetTriangleMesh().

BIAS::Image<float> BIAS::CylindricDepthPanorama::panoramaHitCount_

protectedinherited

Definition at line 85 of file CylindricDepthPanorama.hh.

Referenced by LoadPanorama(), and SavePanorama().

BIAS::Image<float> BIAS::CylindricDepthTrackingPanorama::panoramaNonStatic_

protected

Definition at line 34 of file CylindricDepthTrackingPanorama.hh.

Referenced by CylindricDepthTrackingPanorama(), and GetPanorama().

BIAS::Image<unsigned char> BIAS::CylindricDepthTrackingPanorama::panoramaNonStaticTexture_

protected

Definition at line 35 of file CylindricDepthTrackingPanorama.hh.

Referenced by CylindricDepthTrackingPanorama(), and GetPanorama().

BIAS::Image<unsigned char> BIAS::CylindricDepthPanorama::panoramaTexture_

protectedinherited

Definition at line 86 of file CylindricDepthPanorama.hh.

Referenced by GetTriangleMesh(), LoadPanorama(), and SavePanorama().

BIAS::Image<float> BIAS::CylindricDepthPanorama::panoramaVarianz_

protectedinherited

Definition at line 85 of file CylindricDepthPanorama.hh.

unsigned int BIAS::CylindricDepthPanorama::panoramaWidth_

protectedinherited

Definition at line 96 of file CylindricDepthPanorama.hh.

Referenced by CylindricDepthTrackingPanorama(), and GetTriangleMesh().

BIAS::ProjectionParametersCylindric* BIAS::CylindricDepthPanorama::pCylinderProj_

protectedinherited

Definition at line 93 of file CylindricDepthPanorama.hh.

Referenced by ProcessCylindricProjection().

BIAS::ProjectionMapping<float, float> BIAS::CylindricDepthPanorama::projectionMappingFL_

protectedinherited

Definition at line 102 of file CylindricDepthPanorama.hh.

BIAS::ProjectionMapping<unsigned char, unsigned char> BIAS::CylindricDepthPanorama::projectionMappingUC_

protectedinherited

Definition at line 101 of file CylindricDepthPanorama.hh.

BIAS::Image<unsigned char> BIAS::CylindricDepthTrackingPanorama::visualisation_

protected

Definition at line 37 of file CylindricDepthTrackingPanorama.hh.

---

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

• Image/CylindricDepthTrackingPanorama.hh
• Image/CylindricDepthTrackingPanorama.cpp