mrpt::monoslam::CFeaturePatch Class Reference

CFeaturePatch class is a structure for control and storage of features information. More...

#include <mrpt/monoslam/CFeature.h>

List of all members.

Classes
struct	feat
Public Member Functions
void	clear ()
	Clear all data.
	CFeaturePatch (const int &n, const int &h, const CImage &p)
	Constructor with a patch.
	CFeaturePatch (const int &n, const int &h)
	Constructor without a patch.
	CFeaturePatch ()
	Default constructor.
int	get_name (const size_t &index)
	Return the numerical name of the feature.
void	get_name (const size_t &index, int &n)
	Set the numerical name of the feature in the integer variable 'n'.
int	get_hits (const size_t &index)
	Return the number of hits.
void	get_hits (const size_t &index, int &h)
	Set the number of hits into the integer variable h.
void	get_patch (const size_t &index, CImage &im)
	Read the image which represents the feature.
void	set_name (const size_t &index, const int &n)
	Set the numerical name of the feature.
void	set_hits (const size_t &index, const int &h)
	Set the number right matches of the feature.
void	set_patch (const size_t &index, const unsigned int col, const unsigned int row, CImage &img)
	Write the patch (21x21 pixels) which represents the features, extracting 10 pixeles round to (row,col) position on the image.
void	set_patch (const size_t &index, const CImage &p)
	Takes the image 'p' as the patch of the feature.
size_t	size ()
	Returns the number of features stored.
void	insert_feature ()
	Increase the number of features by 1 and insert it at last.
void	insert_feature (const int &n, const int &h)
	Increase the number of features by 1 and insert it at last establishing its name and number of hits.
void	delete_feature (const size_t &index)
	Erase a feature from de vector.
Protected Attributes
std::vector< feat >	feat_vector

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Detailed Description

CFeaturePatch class is a structure for control and storage of features information.

Definition at line 45 of file monoslam/CFeature.h.

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Constructor & Destructor Documentation

mrpt::monoslam::CFeaturePatch::CFeaturePatch	(	const int &	n,
		const int &	h,
		const CImage &	p
	)			[inline]

Constructor with a patch.

Definition at line 68 of file monoslam/CFeature.h.

References ASSERT_, mrpt::utils::CImage::getHeight(), and mrpt::utils::CImage::getWidth().

mrpt::monoslam::CFeaturePatch::CFeaturePatch	(	const int &	n,
		const int &	h
	)			[inline]

Constructor without a patch.

Definition at line 79 of file monoslam/CFeature.h.

mrpt::monoslam::CFeaturePatch::CFeaturePatch

(

)

[inline]

Default constructor.

Definition at line 88 of file monoslam/CFeature.h.

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Member Function Documentation

void mrpt::monoslam::CFeaturePatch::clear

(

void

)

[inline]

Clear all data.

Definition at line 64 of file monoslam/CFeature.h.

void mrpt::monoslam::CFeaturePatch::delete_feature

(

const size_t &

index

)

[inline]

Erase a feature from de vector.

Definition at line 219 of file monoslam/CFeature.h.

References THROW_EXCEPTION.

void mrpt::monoslam::CFeaturePatch::get_hits	(	const size_t &	index,
		int &	h
	)			[inline]

Set the number of hits into the integer variable h.

The hits is the score of matching right.

Definition at line 123 of file monoslam/CFeature.h.

References mrpt::math::size(), and THROW_EXCEPTION.

int mrpt::monoslam::CFeaturePatch::get_hits

(

const size_t &

index

)

[inline]

Return the number of hits.

The hits is the score of matching right.

Definition at line 114 of file monoslam/CFeature.h.

References mrpt::math::size(), and THROW_EXCEPTION.

void mrpt::monoslam::CFeaturePatch::get_name	(	const size_t &	index,
		int &	n
	)			[inline]

Set the numerical name of the feature in the integer variable 'n'.

Definition at line 105 of file monoslam/CFeature.h.

References mrpt::math::size(), and THROW_EXCEPTION.

int mrpt::monoslam::CFeaturePatch::get_name

(

const size_t &

index

)

[inline]

Return the numerical name of the feature.

Definition at line 96 of file monoslam/CFeature.h.

References mrpt::math::size(), and THROW_EXCEPTION.

void mrpt::monoslam::CFeaturePatch::get_patch	(	const size_t &	index,
		CImage &	im
	)			[inline]

Read the image which represents the feature.

Definition at line 132 of file monoslam/CFeature.h.

References mrpt::math::size(), and THROW_EXCEPTION.

void mrpt::monoslam::CFeaturePatch::insert_feature	(	const int &	n,
		const int &	h
	)			[inline]

Increase the number of features by 1 and insert it at last establishing its name and number of hits.

Definition at line 210 of file monoslam/CFeature.h.

void mrpt::monoslam::CFeaturePatch::insert_feature

(

)

[inline]

Increase the number of features by 1 and insert it at last.

Definition at line 191 of file monoslam/CFeature.h.

void mrpt::monoslam::CFeaturePatch::set_hits	(	const size_t &	index,
		const int &	h
	)			[inline]

Set the number right matches of the feature.

Definition at line 150 of file monoslam/CFeature.h.

References mrpt::math::size(), and THROW_EXCEPTION.

void mrpt::monoslam::CFeaturePatch::set_name	(	const size_t &	index,
		const int &	n
	)			[inline]

Set the numerical name of the feature.

Definition at line 141 of file monoslam/CFeature.h.

References mrpt::math::size(), and THROW_EXCEPTION.

void mrpt::monoslam::CFeaturePatch::set_patch	(	const size_t &	index,
		const CImage &	p
	)			[inline]

Takes the image 'p' as the patch of the feature.

Definition at line 176 of file monoslam/CFeature.h.

References mrpt::math::size(), and THROW_EXCEPTION.

void mrpt::monoslam::CFeaturePatch::set_patch	(	const size_t &	index,
		const unsigned int	col,
		const unsigned int	row,
		CImage &	img
	)			[inline]

Write the patch (21x21 pixels) which represents the features, extracting 10 pixeles round to (row,col) position on the image.

Definition at line 160 of file monoslam/CFeature.h.

References mrpt::utils::CImage::extract_patch(), mrpt::utils::CImage::getHeight(), mrpt::utils::CImage::getWidth(), mrpt::math::size(), and THROW_EXCEPTION.

size_t mrpt::monoslam::CFeaturePatch::size

(

)

[inline]

Returns the number of features stored.

Definition at line 187 of file monoslam/CFeature.h.

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Member Data Documentation

std::vector<feat> mrpt::monoslam::CFeaturePatch::feat_vector [protected]

Definition at line 59 of file monoslam/CFeature.h.