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

#include <image_warp_util.h>

Public Member Functions
void	Clear ()
	Clears the buffer.
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.
bool	GetMeanPitchAndRoll (double &pitch, double &roll)
	Computes the mean pitch and roll.
bool	GetMedianPitchAndRoll (double &pitch, double &roll)
	Computes the median pitch and roll.
void	LoadNewData (double new_pitch, double new_roll)
	Loads new pitch and roll data directly onto the buffer.
	PitchAndRollEstimatorQueue ()
	Constructor.
void	SetBufferSize (int32_t buff_size=50)
	Sets the circular buffer capacity for computing statistics.
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.
	~PitchAndRollEstimatorQueue ()
Private Member Functions
void	ComputeStats ()
	Computes the statistics on the data in the buffers.
Private Attributes
double	mean_pitch_
double	mean_roll_
double	median_pitch_
double	median_roll_
boost::circular_buffer< double >	pitches_
boost::circular_buffer< double >	rolls_

Detailed Description

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

Definition at line 212 of file image_warp_util.h.

Constructor & Destructor Documentation

swri_image_util::PitchAndRollEstimatorQueue::PitchAndRollEstimatorQueue ( )

Constructor.

Definition at line 452 of file image_warp_util.cpp.

swri_image_util::PitchAndRollEstimatorQueue::~PitchAndRollEstimatorQueue ( ) [inline]

Definition at line 220 of file image_warp_util.h.

Member Function Documentation

void swri_image_util::PitchAndRollEstimatorQueue::Clear ( )

Clears the buffer.

Definition at line 499 of file image_warp_util.cpp.

void swri_image_util::PitchAndRollEstimatorQueue::ComputeStats ( ) [private]

Computes the statistics on the data in the buffers.

Definition at line 579 of file image_warp_util.cpp.

void swri_image_util::PitchAndRollEstimatorQueue::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:

[in]	points1	Points from first image
[in]	points2	Corresponding points from second image
[in]	image_size	The size of the image

Definition at line 512 of file image_warp_util.cpp.

bool swri_image_util::PitchAndRollEstimatorQueue::GetMeanPitchAndRoll	(	double &	pitch,
		double &	roll
	)

Computes the mean pitch and roll.

Parameters:

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

Return values:

Returns false if the buffer is empty

Definition at line 537 of file image_warp_util.cpp.

bool swri_image_util::PitchAndRollEstimatorQueue::GetMedianPitchAndRoll	(	double &	pitch,
		double &	roll
	)

Computes the median pitch and roll.

Parameters:

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

Return values:

Returns false if the buffer is empty

Definition at line 551 of file image_warp_util.cpp.

void swri_image_util::PitchAndRollEstimatorQueue::LoadNewData	(	double	new_pitch,
		double	new_roll
	)

Loads new pitch and roll data directly onto the buffer.

Parameters:

[in]	new_pitch	New pitch data
[in]	new_roll	New roll data

Definition at line 566 of file image_warp_util.cpp.

void swri_image_util::PitchAndRollEstimatorQueue::SetBufferSize ( int32_t buff_size = 50 )

Sets the circular buffer capacity for computing statistics.

Parameters:

[in] buff_size The desired size of the buffer

Definition at line 463 of file image_warp_util.cpp.

void swri_image_util::PitchAndRollEstimatorQueue::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:

[in]	points_in	The input points matrix
[out]	points_out	The output points matrix
[in]	image_size	The corresponding image size
[in]	use_median	Specify whether to use median or mean values, default is use_median = true