#include <HorizonEstimator.h>
Inheritance diagram for HorizonEstimator:
Public Member Functions | |
HorizonEstimator (const Image &image, const CameraMatrix &cameraMatrix, const CameraMatrix &prevCameraMatrix, ColorClustering &cluster, LandmarksPercept &landmarksPercept, const RobotPose &robotPose, Image &debugImage) | |
void | execute () |
bool | scanPixel (int &is, int &ix, int &iy, int &x, int &y, Vector3< unsigned char > &color, double &radScanline, HorizonScanData ¶m) |
Public Attributes | |
Image & | debugImage |
ColorClustering & | cluster |
HorizonScanData | horizonScanData |
LandmarksPercept & | landmarksPercept |
const RobotPose & | robotPose |
Definition at line 41 of file HorizonEstimator.h.
HorizonEstimator::HorizonEstimator | ( | const Image & | image, | |
const CameraMatrix & | cameraMatrix, | |||
const CameraMatrix & | prevCameraMatrix, | |||
ColorClustering & | cluster, | |||
LandmarksPercept & | landmarksPercept, | |||
const RobotPose & | robotPose, | |||
Image & | debugImage | |||
) |
Definition at line 89 of file HorizonEstimator.cpp.
References HORIZON_SIZE, ScanningGrid::maxVerticalScanPoints, ScanningGrid::scanningDistanceX, and ScanningGrid::scanningDistanceY.
void HorizonEstimator::execute | ( | ) |
Definition at line 112 of file HorizonEstimator.cpp.
References cameraResolutionHeight_ERS7, cameraResolutionWidth_ERS7, debugImage, horizonScanData, ScanningGrid::image, Image::image, HorizonScanData::resetSectorData(), SCAN_IMAGE, scanPixel(), and WINDEBUG.
bool HorizonEstimator::scanPixel | ( | int & | is, | |
int & | ix, | |||
int & | iy, | |||
int & | x, | |||
int & | y, | |||
Vector3< unsigned char > & | color, | |||
double & | radScanline, | |||
HorizonScanData & | param | |||
) | [inline] |
Definition at line 131 of file HorizonEstimator.cpp.
References cluster, debugImage, HorizonScanData::distribution, HorizonScanData::estimateMLHorizonHeight(), HorizonScanData::freq, HORIZON_SIZE, HorizonScanData::horizonHeightCount, HorizonScanData::horizonHeightSum, horizonScanData, Image::image, int(), EMGaussianMixture::lookupTable, ColorClustering::mixture, PI, HorizonScanData::resetSectorData(), HorizonScanData::sector, SECTORS, HorizonScanData::seenBottom, HorizonScanData::seenTop, Vector3< V >::x, Vector3< V >::y, and Vector3< V >::z.
Referenced by execute().
Definition at line 62 of file HorizonEstimator.h.
Definition at line 64 of file HorizonEstimator.h.