#include <discrete_depth_distortion_model.h>
Public Member Functions | |
| size_t | accumulate (const cv::Mat &ground_truth, const cv::Mat &measurement) |
| void | addExample (int v, int u, double ground_truth, double measurement) |
| void | deserialize (std::istream &in, bool ascii) |
| DiscreteDepthDistortionModel () | |
| DiscreteDepthDistortionModel (int width, int height, int bin_width=8, int bin_height=6, double bin_depth=2.0, int smoothing=1, double max_depth=10.0) | |
| DiscreteDepthDistortionModel (const DiscreteDepthDistortionModel &other) | |
| int | getHeight () const |
| size_t | getTrainingSamples () const |
| int | getWidth () const |
| bool | isValid () const |
| void | load (const std::string &path) |
| DiscreteDepthDistortionModel & | operator= (const DiscreteDepthDistortionModel &other) |
| void | save (const std::string &path) const |
| void | serialize (std::ostream &out, bool ascii) const |
| void | undistort (cv::Mat &depth) const |
| cv::Mat | visualize (const std::string &path="") const |
| virtual | ~DiscreteDepthDistortionModel () |
Static Public Member Functions | |
| static void | getBinSize (const size_t &width, const size_t &height, size_t &bin_width, size_t &bin_height) |
| static size_t | getClosestToRef (const std::set< size_t > &divisors, const double &ref) |
| static std::set< size_t > | getDivisors (const size_t &num) |
Protected Member Functions | |
| void | deleteFrustums () |
| DiscreteFrustum & | frustum (int y, int x) |
| const DiscreteFrustum & | frustum (int y, int x) const |
Protected Attributes | |
| double | bin_depth_ |
| Depth of each bin in meters. | |
| int | bin_height_ |
| Height of each bin in pixels. | |
| int | bin_width_ |
| Width of each bin in pixels. | |
| std::vector< std::vector < DiscreteFrustum * > > | frustums_ |
| frustums_[y][x] | |
| int | height_ |
| Image height. | |
| UMutex | mutex_ |
| int | num_bins_x_ |
| int | num_bins_y_ |
| size_t | training_samples_ |
| int | width_ |
| Image width. | |
Definition at line 68 of file discrete_depth_distortion_model.h.
Definition at line 81 of file discrete_depth_distortion_model.h.
Definition at line 271 of file discrete_depth_distortion_model.cpp.
| clams::DiscreteDepthDistortionModel::DiscreteDepthDistortionModel | ( | int | width, |
| int | height, | ||
| int | bin_width = 8, |
||
| int | bin_height = 6, |
||
| double | bin_depth = 2.0, |
||
| int | smoothing = 1, |
||
| double | max_depth = 10.0 |
||
| ) |
Definition at line 234 of file discrete_depth_distortion_model.cpp.
| clams::DiscreteDepthDistortionModel::DiscreteDepthDistortionModel | ( | const DiscreteDepthDistortionModel & | other | ) |
Definition at line 210 of file discrete_depth_distortion_model.cpp.
| size_t clams::DiscreteDepthDistortionModel::accumulate | ( | const cv::Mat & | ground_truth, |
| const cv::Mat & | measurement | ||
| ) |
Returns the number of training examples it used from this pair. Thread-safe.
Definition at line 316 of file discrete_depth_distortion_model.cpp.
| void clams::DiscreteDepthDistortionModel::addExample | ( | int | v, |
| int | u, | ||
| double | ground_truth, | ||
| double | measurement | ||
| ) |
Definition at line 311 of file discrete_depth_distortion_model.cpp.
| void clams::DiscreteDepthDistortionModel::deleteFrustums | ( | ) | [protected] |
Definition at line 261 of file discrete_depth_distortion_model.cpp.
| void clams::DiscreteDepthDistortionModel::deserialize | ( | std::istream & | in, |
| bool | ascii | ||
| ) |
Definition at line 408 of file discrete_depth_distortion_model.cpp.
| DiscreteFrustum & clams::DiscreteDepthDistortionModel::frustum | ( | int | y, |
| int | x | ||
| ) | [protected] |
Definition at line 458 of file discrete_depth_distortion_model.cpp.
| const DiscreteFrustum & clams::DiscreteDepthDistortionModel::frustum | ( | int | y, |
| int | x | ||
| ) | const [protected] |
Definition at line 467 of file discrete_depth_distortion_model.cpp.
| void clams::DiscreteDepthDistortionModel::getBinSize | ( | const size_t & | width, |
| const size_t & | height, | ||
| size_t & | bin_width, | ||
| size_t & | bin_height | ||
| ) | [static] |
Definition at line 199 of file discrete_depth_distortion_model.cpp.
| size_t clams::DiscreteDepthDistortionModel::getClosestToRef | ( | const std::set< size_t > & | divisors, |
| const double & | ref | ||
| ) | [static] |
Definition at line 172 of file discrete_depth_distortion_model.cpp.
| std::set< size_t > clams::DiscreteDepthDistortionModel::getDivisors | ( | const size_t & | num | ) | [static] |
Definition at line 159 of file discrete_depth_distortion_model.cpp.
| int clams::DiscreteDepthDistortionModel::getHeight | ( | ) | const [inline] |
Definition at line 107 of file discrete_depth_distortion_model.h.
| size_t clams::DiscreteDepthDistortionModel::getTrainingSamples | ( | ) | const [inline] |
Definition at line 108 of file discrete_depth_distortion_model.h.
| int clams::DiscreteDepthDistortionModel::getWidth | ( | ) | const [inline] |
Definition at line 106 of file discrete_depth_distortion_model.h.
| bool clams::DiscreteDepthDistortionModel::isValid | ( | ) | const [inline] |
Definition at line 109 of file discrete_depth_distortion_model.h.
| void clams::DiscreteDepthDistortionModel::load | ( | const std::string & | path | ) |
Definition at line 350 of file discrete_depth_distortion_model.cpp.
| DiscreteDepthDistortionModel & clams::DiscreteDepthDistortionModel::operator= | ( | const DiscreteDepthDistortionModel & | other | ) |
Definition at line 215 of file discrete_depth_distortion_model.cpp.
| void clams::DiscreteDepthDistortionModel::save | ( | const std::string & | path | ) | const |
Definition at line 363 of file discrete_depth_distortion_model.cpp.
| void clams::DiscreteDepthDistortionModel::serialize | ( | std::ostream & | out, |
| bool | ascii | ||
| ) | const |
Definition at line 376 of file discrete_depth_distortion_model.cpp.
| void clams::DiscreteDepthDistortionModel::undistort | ( | cv::Mat & | depth | ) | const |
Definition at line 276 of file discrete_depth_distortion_model.cpp.
| cv::Mat clams::DiscreteDepthDistortionModel::visualize | ( | const std::string & | path = "" | ) | const |
Definition at line 42 of file discrete_depth_distortion_model_helpers.cpp.
double clams::DiscreteDepthDistortionModel::bin_depth_ [protected] |
Depth of each bin in meters.
Definition at line 124 of file discrete_depth_distortion_model.h.
int clams::DiscreteDepthDistortionModel::bin_height_ [protected] |
Height of each bin in pixels.
Definition at line 122 of file discrete_depth_distortion_model.h.
int clams::DiscreteDepthDistortionModel::bin_width_ [protected] |
Width of each bin in pixels.
Definition at line 120 of file discrete_depth_distortion_model.h.
std::vector< std::vector<DiscreteFrustum*> > clams::DiscreteDepthDistortionModel::frustums_ [protected] |
frustums_[y][x]
Definition at line 128 of file discrete_depth_distortion_model.h.
int clams::DiscreteDepthDistortionModel::height_ [protected] |
Image height.
Definition at line 118 of file discrete_depth_distortion_model.h.
UMutex clams::DiscreteDepthDistortionModel::mutex_ [protected] |
Definition at line 136 of file discrete_depth_distortion_model.h.
int clams::DiscreteDepthDistortionModel::num_bins_x_ [protected] |
Definition at line 125 of file discrete_depth_distortion_model.h.
int clams::DiscreteDepthDistortionModel::num_bins_y_ [protected] |
Definition at line 126 of file discrete_depth_distortion_model.h.
size_t clams::DiscreteDepthDistortionModel::training_samples_ [protected] |
Definition at line 130 of file discrete_depth_distortion_model.h.
int clams::DiscreteDepthDistortionModel::width_ [protected] |
Image width.
Definition at line 116 of file discrete_depth_distortion_model.h.