Public Member Functions | Static Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
clams::DiscreteDepthDistortionModel Class Reference

#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. More...
 
int bin_height_
 Height of each bin in pixels. More...
 
int bin_width_
 Width of each bin in pixels. More...
 
std::vector< std::vector< DiscreteFrustum * > > frustums_
 frustums_[y][x] More...
 
int height_
 Image height. More...
 
UMutex mutex_
 
int num_bins_x_
 
int num_bins_y_
 
size_t training_samples_
 
int width_
 Image width. More...
 

Detailed Description

Definition at line 68 of file discrete_depth_distortion_model.h.

Constructor & Destructor Documentation

clams::DiscreteDepthDistortionModel::DiscreteDepthDistortionModel ( )
inline

Definition at line 81 of file discrete_depth_distortion_model.h.

clams::DiscreteDepthDistortionModel::~DiscreteDepthDistortionModel ( )
virtual

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.

Member Function Documentation

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.

Member Data Documentation

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.

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

rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Dec 14 2020 03:37:08