AprilTags::GrayModel Class Reference

Fits a grayscale model over an area of pixels. More...

#include <GrayModel.h>

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Detailed Description

Fits a grayscale model over an area of pixels.

The model is of the form: c1*x + c2*y + c3*x*y + c4 = value

We use this model to compute spatially-varying thresholds for reading bits.

Definition at line 17 of file GrayModel.h.

List of all members.

Public Member Functions
	GrayModel ()
void	addObservation (float x, float y, float gray)
int	getNumObservations ()
float	interpolate (float x, float y)
Private Member Functions
void	compute ()
Private Attributes
fmat::Matrix< 4, 4 >	A
fmat::Column< 4 >	v
fmat::Column< 4 >	b
int	nobs
bool	dirty
	True if we've added an observation and need to recompute v.

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Constructor & Destructor Documentation

AprilTags::GrayModel::GrayModel

(

)

Definition at line 5 of file GrayModel.cc.

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Member Function Documentation

void AprilTags::GrayModel::addObservation	(	float	x,
		float	y,
		float	gray
	)

Definition at line 7 of file GrayModel.cc.

Referenced by AprilTags::TagDetector::extractTags().

void AprilTags::GrayModel::compute

(

)

[private]

Definition at line 37 of file GrayModel.cc.

Referenced by interpolate().

int AprilTags::GrayModel::getNumObservations

(

)

Definition at line 23 of file GrayModel.h.

float AprilTags::GrayModel::interpolate	(	float	x,
		float	y
	)

Definition at line 32 of file GrayModel.cc.

Referenced by AprilTags::TagDetector::extractTags().

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Member Data Documentation

fmat::Matrix<4,4> AprilTags::GrayModel::A [private]

Definition at line 37 of file GrayModel.h.

Referenced by addObservation(), and compute().

fmat::Column<4> AprilTags::GrayModel::b [private]

Definition at line 39 of file GrayModel.h.

Referenced by addObservation(), and compute().

bool AprilTags::GrayModel::dirty [private]

True if we've added an observation and need to recompute v.

Definition at line 41 of file GrayModel.h.

Referenced by addObservation(), compute(), and interpolate().

int AprilTags::GrayModel::nobs [private]

Definition at line 40 of file GrayModel.h.

Referenced by addObservation(), compute(), and getNumObservations().

fmat::Column<4> AprilTags::GrayModel::v [private]

Definition at line 38 of file GrayModel.h.

Referenced by compute(), and interpolate().

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

• GrayModel.h
• GrayModel.cc