SiftAlgorithm Class Reference

IRI ROS Specific Driver Class. More...

#include <sift_alg.h>

List of all members.

Public Types
typedef iri_sift::SiftConfig	Config
	define config type
Public Member Functions
void	config_update (Config &new_cfg, uint32_t level=0)
	config update
iri_perception_msgs::DescriptorSet	get_descriptors_from_image (cv::Mat &image)
iri_perception_msgs::GeoVwSet	get_geo_vw_from_descriptors (cv::Mat descriptors, std::vector< cv::KeyPoint > keypoints)
iri_perception_msgs::GeoVwSet	get_geovw_from_image (cv::Mat &image)
void	get_sift_descriptors (cv::Mat const &image, cv::Mat &descriptors, std::vector< cv::KeyPoint > &keypoints)
void	lock (void)
	Lock Algorithm.
bool	save_descriptors (cv::Mat descriptors)
	SiftAlgorithm (void)
	constructor
bool	try_enter (void)
	Tries Access to Algorithm.
void	unlock (void)
	Unlock Algorithm.
	~SiftAlgorithm (void)
	Destructor.
Public Attributes
bool	centroids_ready_
Config	config_
	config variable
cv::Mat	sift_centroids_
Protected Attributes
CMutex	alg_mutex_
	define config type
Private Member Functions
cv::Mat	read_trained_descriptors ()
Private Attributes
std::string	descriptors_file_

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Detailed Description

IRI ROS Specific Driver Class.

Definition at line 52 of file sift_alg.h.

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Member Typedef Documentation

typedef iri_sift::SiftConfig SiftAlgorithm::Config

define config type

Define a Config type with the SiftConfig. All driver implementations will then use the same variable type Config.

Definition at line 78 of file sift_alg.h.

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Constructor & Destructor Documentation

SiftAlgorithm::SiftAlgorithm

(

void

)

constructor

In this constructor parameters related to the specific driver can be initalized. Those parameters can be also set in the openDriver() function. Attributes from the main node driver class IriBaseDriver such as loop_rate, may be also overload here.

Definition at line 9 of file sift_alg.cpp.

SiftAlgorithm::~SiftAlgorithm

(

void

)

Destructor.

This destructor is called when the object is about to be destroyed.

Definition at line 15 of file sift_alg.cpp.

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Member Function Documentation

void SiftAlgorithm::config_update	(	Config &	new_cfg,
		uint32_t	level = 0
	)

config update

In this function the driver parameters must be updated with the input config variable. Then the new configuration state will be stored in the Config attribute.

Parameters:

new_cfg	the new driver configuration state
level	level in which the update is taken place

Definition at line 19 of file sift_alg.cpp.

iri_perception_msgs::DescriptorSet SiftAlgorithm::get_descriptors_from_image

(

cv::Mat &

image

)

Definition at line 32 of file sift_alg.cpp.

iri_perception_msgs::GeoVwSet SiftAlgorithm::get_geo_vw_from_descriptors	(	cv::Mat	descriptors,
		std::vector< cv::KeyPoint >	keypoints
	)

Definition at line 70 of file sift_alg.cpp.

iri_perception_msgs::GeoVwSet SiftAlgorithm::get_geovw_from_image

(

cv::Mat &

image

)

Definition at line 60 of file sift_alg.cpp.

void SiftAlgorithm::get_sift_descriptors	(	cv::Mat const &	image,
		cv::Mat &	descriptors,
		std::vector< cv::KeyPoint > &	keypoints
	)

Definition at line 92 of file sift_alg.cpp.

void SiftAlgorithm::lock

(

void

)

[inline]

Lock Algorithm.

Locks access to the Algorithm class

Definition at line 103 of file sift_alg.h.

cv::Mat SiftAlgorithm::read_trained_descriptors

(

)

[private]

Definition at line 149 of file sift_alg.cpp.

bool SiftAlgorithm::save_descriptors

(

cv::Mat

descriptors

)

Definition at line 161 of file sift_alg.cpp.

bool SiftAlgorithm::try_enter

(

void

)

[inline]

Tries Access to Algorithm.

Tries access to Algorithm

Returns:

true if the lock was adquired, false otherwise

Definition at line 119 of file sift_alg.h.

void SiftAlgorithm::unlock

(

void

)

[inline]

Unlock Algorithm.

Unlocks access to the Algorithm class

Definition at line 110 of file sift_alg.h.

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Member Data Documentation

CMutex SiftAlgorithm::alg_mutex_ [protected]

define config type

Define a Config type with the SiftConfig. All driver implementations will then use the same variable type Config.

Definition at line 61 of file sift_alg.h.

bool SiftAlgorithm::centroids_ready_

Definition at line 158 of file sift_alg.h.

Config SiftAlgorithm::config_

config variable

This variable has all the driver parameters defined in the cfg config file. Is updated everytime function config_update() is called.

Definition at line 86 of file sift_alg.h.

std::string SiftAlgorithm::descriptors_file_ [private]

Definition at line 67 of file sift_alg.h.

cv::Mat SiftAlgorithm::sift_centroids_

Definition at line 157 of file sift_alg.h.

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

• sift_alg.h
• sift_alg.cpp