HorizonEstimator Class Reference

#include <HorizonEstimator.h>

Inheritance diagram for HorizonEstimator:

ScanningGrid List of all members.

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 &param)

Public Attributes

ImagedebugImage
ColorClusteringcluster
HorizonScanData horizonScanData
LandmarksPerceptlandmarksPercept
const RobotPoserobotPose

Detailed Description

Definition at line 41 of file HorizonEstimator.h.


Constructor & Destructor Documentation

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.


Member Function Documentation

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().


Member Data Documentation

ColorClustering& HorizonEstimator::cluster

Definition at line 58 of file HorizonEstimator.h.

Referenced by scanPixel().

Image& HorizonEstimator::debugImage

Definition at line 56 of file HorizonEstimator.h.

Referenced by execute(), and scanPixel().

HorizonScanData HorizonEstimator::horizonScanData

Definition at line 60 of file HorizonEstimator.h.

Referenced by execute(), and scanPixel().

LandmarksPercept& HorizonEstimator::landmarksPercept

Definition at line 62 of file HorizonEstimator.h.

const RobotPose& HorizonEstimator::robotPose

Definition at line 64 of file HorizonEstimator.h.


The documentation for this class was generated from the following files:
Generated on Thu Dec 7 01:37:19 2006 for DT2005.panorama by  doxygen 1.4.7