Class PitchAndRollEstimatorQueue

Class Documentation

class PitchAndRollEstimatorQueue

A class for estimating image warping based on perspective distortion. Primarily intended for use with downward-facing camera methods.

Public Functions

PitchAndRollEstimatorQueue()

Constructor.

inline ~PitchAndRollEstimatorQueue()
void SetBufferSize(int32_t buff_size = 50)

Sets the circular buffer capacity for computing statistics.

Parameters:

buff_size – [in] The desired size of the buffer

void Clear()

Clears the buffer.

void WarpPoints(const cv::Mat &points_in, cv::Mat &points_out, const cv::Size &image_size, bool use_median = true)

Warps points based on the stored estimated pitch and roll.

Parameters:

  • points_in – [in] The input points matrix

  • points_out – [out] The output points matrix

  • image_size – [in] The corresponding image size

  • use_median – [in] Specify whether to use median or mean values, default is use_median = true

void GenerateNewEstimate(const cv::Mat &points1, const cv::Mat &points2, const cv::Size &image_size)

Estimates pitch and roll from corresponding points and loads the pitch and roll data onto the buffer.

Parameters:

  • points1 – [in] Points from first image

  • points2 – [in] Corresponding points from second image

  • image_size – [in] The size of the image

void LoadNewData(double new_pitch, double new_roll)

Loads new pitch and roll data directly onto the buffer.

Parameters:

  • new_pitch – [in] New pitch data

  • new_roll – [in] New roll data

bool GetMeanPitchAndRoll(double &pitch, double &roll)

Computes the mean pitch and roll.

Parameters:

  • pitch – [out] The computed mean pitch (will be zero if buffer is empty)

  • roll – [out] The computed mean roll (will be zero if buffer is empty)

Return values:

Returns – false if the buffer is empty

bool GetMedianPitchAndRoll(double &pitch, double &roll)

Computes the median pitch and roll.

Parameters:

  • pitch – [out] The computed median pitch (will be zero if buffer is empty)

  • roll – [out] The computed median roll (will be zero if buffer is empty)

Return values:

Returns – false if the buffer is empty