MotionOps.H File Reference

#include "Image/Image.H"
#include "Image/Pixels.H"
#include "Raster/Raster.H"
#include "Robots/Beobot2/Navigation/FOE_Navigation/OpticalFlowTypes.H"
#include "Robots/Beobot2/Navigation/FOE_Navigation/OpticalFlow.H"

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Functions
rutz::shared_ptr< OpticalFlow >	getCleanOpticFlow (Image< byte > img)
void	saveCleanOpticFlow (Image< byte > img)
rutz::shared_ptr< OpticalFlow >	getLucasKanadeOpticFlow (Image< byte > image1, Image< byte > image2)
Image< PixRGB< byte > >	drawOpticFlow (Image< PixRGB< byte > > img, rutz::shared_ptr< OpticalFlow > flow)
	draw the optic flow given a set of correspondences

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Detailed Description

various motion related functions. For example: Lucas&Kanade, Horn&Schunck optical flow

Definition in file MotionOps.H.

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Function Documentation

Image<PixRGB<byte> > drawOpticFlow	(	Image< PixRGB< byte > >	img,
		rutz::shared_ptr< OpticalFlow >	flow
	)

draw the optic flow given a set of correspondences

Definition at line 308 of file MotionOps.C.

Referenced by PopulationHeadingMap::getFOE().

rutz::shared_ptr<OpticalFlow> getCleanOpticFlow

(

Image< byte >

img

)

get clean optical flow using: o(x,y) = 1/Z(x,y)*A(x,y)Trans + B(x,y)Rot

Definition at line 63 of file MotionOps.C.

References Image< T >::getDims(), Image< T >::getHeight(), Image< T >::getWidth(), and height.

Referenced by PopulationHeadingMap::getFOE().

rutz::shared_ptr<OpticalFlow> getLucasKanadeOpticFlow	(	Image< byte >	image1,
		Image< byte >	image2
	)

get the Lucas Kanade optic flow for motion from image1 to image2

Definition at line 207 of file MotionOps.C.

References Image< T >::getDims(), Image< T >::getHeight(), Image< T >::getWidth(), and img2ipl().

Referenced by MotionOpticalFlowChannel::doInput().