test-FOE.C File Reference

#include "Component/ModelManager.H"
#include "Component/OptionManager.H"
#include "Devices/FrameGrabberConfigurator.H"
#include "Media/FrameSeries.H"
#include "Image/ColorOps.H"
#include "Image/ShapeOps.H"
#include "Image/Image.H"
#include "Image/Layout.H"
#include "Raster/Raster.H"
#include "SIFT/Keypoint.H"
#include "SIFT/VisualObject.H"
#include "SIFT/VisualObjectMatch.H"
#include "Transport/FrameInfo.H"
#include "Util/Pause.H"
#include "Util/Timer.H"
#include "Util/Types.H"
#include "Util/csignals.H"
#include "Util/log.H"
#include <math.h>
#include <cstdio>
#include "Robots/Beobot2/Navigation/FOE_Navigation/FoeDetector.H"

Include dependency graph for test-FOE.C:

Go to the source code of this file.

Defines
#define	DOT_NUM   200
#define	WIDTH   320
#define	HEIGHT   240
#define	FOE_X   2*WIDTH/4
#define	FOE_Y   2*HEIGHT/4
#define	DOT_VEL   2.0/80.0
#define	DOT_ORG_DSIZE   .02
#define	DOT_DSIZE   .07
#define	MIN_DOT_SIZE   1
#define	MAX_DOT_SIZE   5
#define	ABS_MAX_DSIZE   50
#define	NFRAME   60
#define	HAVE_MOTION   1
#define	HAVE_TEMP_SGRAD   1
#define	HAVE_SPAT_SGRAD   1
#define	NUM_PYR_LEVEL   2
#define	NUM_DIRS   8
#define	NUM_SPEEDS   3
Functions
std::vector< Point2D< int > >	getGT (std::string gtFilename)
Image< byte >	calculateShift (Image< byte > lum, Image< byte > prevLum, nub::ref< OutputFrameSeries > ofs)
Image< byte >	getFoeDots (uint step, bool haveMotion, bool haveTempSGrad, bool haveSpatSGrad, float dx, float dy, float dotOrgDSize)
Image< byte >	getPlanarMotionStimuli (Image< byte > temp, uint step, float dx, float dy)
Image< byte >	getBarStimuli (uint step)
Image< byte >	getShapeStimuli (uint step)
Image< byte >	getApertureProblemStimuli (uint step)
Image< byte >	getCleanFOE (uint step, uint totalStep, uint mag, float dx, float dy, Image< byte > image)
Image< byte >	getPlanarMotionImage (uint step, uint totalStep, float dx, float dy, Image< byte > image)
Image< byte >	shiftImage (SIFTaffine aff, Image< byte > ref, Image< byte > tst)
Image< byte >	getImage (std::string stimuli, std::vector< std::string > args, nub::ref< FoeDetector > fd, uint step)
int	main (const int argc, const char **argv)
Variables
std::vector< Point2D< float > >	dots
std::vector< float >	dotSizes
std::vector< Point2D< float > >	pdots
std::vector< float >	pdotSizes
Image< byte >	orgPlanarImage
Image< byte >	orgImage

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Detailed Description

find the focus of expansion

Definition in file test-FOE.C.