DualCoding::ImageProfileOdometry Class Reference
Image profile visual odometry. More...
#include <VisualOdometry.h>
Detailed Description
Image profile visual odometry.
Definition at line 69 of file VisualOdometry.h.
Public Member Functions | |
| ImageProfileOdometry (const std::string &dummyName="") | |
| ImageProfileOdometry (const ImageProfileOdometry &other) | |
| do not call | |
| virtual | ~ImageProfileOdometry () |
| virtual float | getAngle () |
| virtual int | getTranslation () |
| virtual void | update (bool sleepOverride=false) |
| virtual void | setConversionParameters (float slope, float offset) |
| Set parameters for converting from translation units (pixels) to angle (radians). | |
| virtual unsigned int | suggestedFrameRate () const |
| Number of milliseconds between odometry updates. | |
| float | getSlope () |
| float | getOffset () |
Protected Attributes | |
| std::vector< float > * | currImageProfile |
| std::vector< float > | profile1 |
| std::vector< float > | profile2 |
| std::vector< float > | translationProfile |
Private Member Functions | |
| ImageProfileOdometry & | operator= (const ImageProfileOdometry &rhs) |
| float | differenceMeasure (int s) |
| int | minTranslation () |
| float | translationToAngle (int trans) |
| Convert from translation units (pixels) to angle (radians). | |
| void | buildImageProfile () |
| Builds a translation profile comparing how similar the two image profiles are at different translations. | |
| void | displayImageProfile () |
| void | swapCurrentProfile () |
| void | buildTranslationProfile () |
| void | displayTranslationProfile () |
Private Attributes | |
| float | angularResolution |
| float | slope |
| float | offset |
Constructor & Destructor Documentation
| DualCoding::ImageProfileOdometry::ImageProfileOdometry | ( | const std::string & | dummyName = "" |
) |
Definition at line 71 of file VisualOdometry.h.
| DualCoding::ImageProfileOdometry::ImageProfileOdometry | ( | const ImageProfileOdometry & | other | ) |
do not call
| virtual DualCoding::ImageProfileOdometry::~ImageProfileOdometry | ( | ) | [virtual] |
Definition at line 79 of file VisualOdometry.h.
Member Function Documentation
| void ImageProfileOdometry::buildImageProfile | ( | ) | [private] |
Builds a translation profile comparing how similar the two image profiles are at different translations.
The horizontal axis is translation, starting at -WIDTH/2 on the leftmost part of the axis and ending with WIDTH/2 on the right.
The vertical axis is the difference measure between the two image profiles using the translation at that point on the horizontal axis.
Definition at line 92 of file VisualOdometry.cc.
Referenced by update().
| void ImageProfileOdometry::buildTranslationProfile | ( | ) | [private] |
Definition at line 114 of file VisualOdometry.cc.
| float ImageProfileOdometry::differenceMeasure | ( | int | s | ) | [private] |
Calculate the difference between the current image profile and the previous one shifted to the right by s.
Definition at line 155 of file VisualOdometry.cc.
Referenced by buildTranslationProfile(), and minTranslation().
| void ImageProfileOdometry::displayImageProfile | ( | ) | [private] |
Definition at line 200 of file VisualOdometry.cc.
Referenced by update().
| void ImageProfileOdometry::displayTranslationProfile | ( | ) | [private] |
Definition at line 214 of file VisualOdometry.cc.
Referenced by update().
| virtual float DualCoding::ImageProfileOdometry::getAngle | ( | ) | [virtual] |
Reimplemented from DualCoding::VisualOdometry.
| float DualCoding::ImageProfileOdometry::getOffset | ( | ) |
Definition at line 91 of file VisualOdometry.h.
| float DualCoding::ImageProfileOdometry::getSlope | ( | ) |
Definition at line 90 of file VisualOdometry.h.
| virtual int DualCoding::ImageProfileOdometry::getTranslation | ( | ) | [virtual] |
Reimplemented from DualCoding::VisualOdometry.
| int ImageProfileOdometry::minTranslation | ( | ) | [private] |
Returns the translation that minimizes the differenceMeasure between the two stored image profiles.
Definition at line 182 of file VisualOdometry.cc.
Referenced by update().
| ImageProfileOdometry& DualCoding::ImageProfileOdometry::operator= | ( | const ImageProfileOdometry & | rhs | ) | [private] |
Set parameters for converting from translation units (pixels) to angle (radians).
Implements DualCoding::VisualOdometry.
Definition at line 145 of file VisualOdometry.cc.
| virtual unsigned int DualCoding::ImageProfileOdometry::suggestedFrameRate | ( | ) | const [virtual] |
Number of milliseconds between odometry updates.
Implements DualCoding::VisualOdometry.
Definition at line 88 of file VisualOdometry.h.
| void ImageProfileOdometry::swapCurrentProfile | ( | ) | [private] |
Definition at line 107 of file VisualOdometry.cc.
Referenced by update().
| float ImageProfileOdometry::translationToAngle | ( | int | trans | ) | [private] |
Convert from translation units (pixels) to angle (radians).
Definition at line 138 of file VisualOdometry.cc.
Referenced by update().
| void ImageProfileOdometry::update | ( | bool | sleepOverride = false |
) | [virtual] |
Implements DualCoding::VisualOdometry.
Definition at line 47 of file VisualOdometry.cc.
Member Data Documentation
Definition at line 101 of file VisualOdometry.h.
std::vector<float>* DualCoding::ImageProfileOdometry::currImageProfile [protected] |
Definition at line 94 of file VisualOdometry.h.
Referenced by buildImageProfile(), buildTranslationProfile(), differenceMeasure(), displayImageProfile(), and swapCurrentProfile().
Definition at line 103 of file VisualOdometry.h.
Referenced by getOffset(), setConversionParameters(), and translationToAngle().
std::vector<float> DualCoding::ImageProfileOdometry::profile1 [protected] |
Definition at line 95 of file VisualOdometry.h.
Referenced by buildTranslationProfile(), differenceMeasure(), and swapCurrentProfile().
std::vector<float> DualCoding::ImageProfileOdometry::profile2 [protected] |
Definition at line 96 of file VisualOdometry.h.
Referenced by differenceMeasure(), and swapCurrentProfile().
float DualCoding::ImageProfileOdometry::slope [private] |
Definition at line 102 of file VisualOdometry.h.
Referenced by getSlope(), setConversionParameters(), and translationToAngle().
std::vector<float> DualCoding::ImageProfileOdometry::translationProfile [protected] |
Definition at line 97 of file VisualOdometry.h.
Referenced by buildTranslationProfile(), and displayTranslationProfile().
The documentation for this class was generated from the following files:
