FoeDetector Class Reference

Inheritance diagram for FoeDetector:

[legend]

Collaboration diagram for FoeDetector:

[legend]

List of all members.

Public Member Functions
	FoeDetector (OptionManager &mgr, const std::string &descrName="FoeDetector", const std::string &tagName="FoeDetector")
void	reset (uint numPyrLevel, uint numDirs, uint numSpeeds)
Point2D< int >	getFoe (Image< byte > lum, uint method=FOE_METHOD_TEMPLATE, bool tempFilter=true)
	compute and return FOE location given an input image
Image< float >	getFoeMap (Image< byte > lum, uint method=FOE_METHOD_TEMPLATE, bool tempFilter=true)
	compute and return FOE map given an input image
Point2D< int >	getFoe (rutz::shared_ptr< OpticalFlow > flow, uint method=FOE_METHOD_TEMPLATE, bool tempFilter=true)
	compute and return FOE location given a set of correspondences
Image< float >	getFoeMap (rutz::shared_ptr< OpticalFlow > flow, uint method=FOE_METHOD_TEMPLATE, bool tempFilter=true)
	compute and return FOE location given a set of correspondences
Point2D< int >	getFoe (std::vector< Image< float > > mtFeatures, std::vector< Image< float > > mtOptimalShift, uint method=FOE_METHOD_TEMPLATE, bool tempFilter=true)
Image< float >	getFoeMap (std::vector< Image< float > > mtFeatures, std::vector< Image< float > > mtOptimalShift, uint method=FOE_METHOD_TEMPLATE, bool tempFilter=true)
Point2D< int >	getFoe ()
	return the current information without computation
Image< float >	getFoeMap ()
void	setObserverRotation (uint dir, float speed)
	hard-code input observer motion
void	setObserverRotation (float di, float dj)
Layout< byte >	getMTfeaturesDisplay (Image< byte > image)
	return displayable result of FOE computation

---

Detailed Description

Definition at line 55 of file FoeDetector.H.

---

Member Function Documentation

Point2D< int > FoeDetector::getFoe

(

)

return the current information without computation

Definition at line 381 of file FoeDetector.C.

Point2D< int > FoeDetector::getFoe	(	std::vector< Image< float > >	mtFeatures,
		std::vector< Image< float > >	mtOptimalShift,
		uint	method = FOE_METHOD_TEMPLATE,
		bool	tempFilter = true
	)

compute and return FOE location given MT features use MiddleTemporal.C & .H to compute it

Definition at line 255 of file FoeDetector.C.

References Point2D< T >::i.

Point2D< int > FoeDetector::getFoe	(	rutz::shared_ptr< OpticalFlow >	flow,
		uint	method = FOE_METHOD_TEMPLATE,
		bool	tempFilter = true
	)

compute and return FOE location given a set of correspondences

Definition at line 214 of file FoeDetector.C.

References Timer::reset().

Point2D< int > FoeDetector::getFoe	(	Image< byte >	lum,
		uint	method = FOE_METHOD_TEMPLATE,
		bool	tempFilter = true
	)

compute and return FOE location given an input image

various ways to get an estimate of focus of expansion point or the probability map Note: if new features/image is inputted FOE will be recomputed using those features otherwise it will return the current information without computation

Definition at line 134 of file FoeDetector.C.

References Image< T >::getHeight(), Image< T >::getWidth(), height, Timer::reset(), and ZEROS.

Image< float > FoeDetector::getFoeMap	(	std::vector< Image< float > >	mtFeatures,
		std::vector< Image< float > >	mtOptimalShift,
		uint	method = FOE_METHOD_TEMPLATE,
		bool	tempFilter = true
	)

compute and return FOE map given MT features use MiddleTemporal.C & .H to compute it

Definition at line 369 of file FoeDetector.C.

References Point2D< T >::i.

Image< float > FoeDetector::getFoeMap	(	rutz::shared_ptr< OpticalFlow >	flow,
		uint	method = FOE_METHOD_TEMPLATE,
		bool	tempFilter = true
	)

compute and return FOE location given a set of correspondences

Definition at line 246 of file FoeDetector.C.

References Point2D< T >::i.

Image< float > FoeDetector::getFoeMap	(	Image< byte >	lum,
		uint	method = FOE_METHOD_TEMPLATE,
		bool	tempFilter = true
	)

compute and return FOE map given an input image

Definition at line 204 of file FoeDetector.C.

References Point2D< T >::i.

Layout< byte > FoeDetector::getMTfeaturesDisplay

(

Image< byte >

image

)

return displayable result of FOE computation

Definition at line 1507 of file FoeDetector.C.

void FoeDetector::setObserverRotation	(	uint	dir,
		float	speed
	)

hard-code input observer motion

Definition at line 566 of file FoeDetector.C.

---

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

• src/Robots/Beobot2/Navigation/FOE_Navigation/FoeDetector.H
• src/Robots/Beobot2/Navigation/FOE_Navigation/FoeDetector.C