Fits a grayscale model over an area of pixels. More...
#include <GrayModel.h>
Public Member Functions | |
void | addObservation (float x, float y, float gray) |
int | getNumObservations () |
GrayModel () | |
float | interpolate (float x, float y) |
Private Member Functions | |
void | compute () |
Private Attributes | |
Eigen::Matrix4d | A |
Eigen::Vector4d | b |
bool | dirty |
True if we've added an observation and need to recompute v. | |
int | nobs |
Eigen::Vector4d | v |
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.
Definition at line 10 of file GrayModel.cc.
void AprilTags::GrayModel::addObservation | ( | float | x, |
float | y, | ||
float | gray | ||
) |
Definition at line 16 of file GrayModel.cc.
void AprilTags::GrayModel::compute | ( | ) | [private] |
Definition at line 46 of file GrayModel.cc.
int AprilTags::GrayModel::getNumObservations | ( | ) | [inline] |
Definition at line 23 of file GrayModel.h.
float AprilTags::GrayModel::interpolate | ( | float | x, |
float | y | ||
) |
Definition at line 41 of file GrayModel.cc.
Eigen::Matrix4d AprilTags::GrayModel::A [private] |
Definition at line 37 of file GrayModel.h.
Eigen::Vector4d AprilTags::GrayModel::b [private] |
Definition at line 39 of file GrayModel.h.
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.
int AprilTags::GrayModel::nobs [private] |
Definition at line 40 of file GrayModel.h.
Eigen::Vector4d AprilTags::GrayModel::v [private] |
Definition at line 38 of file GrayModel.h.