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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< featfeat_vector


Detailed Description

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

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


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.


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.


Member Data Documentation

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




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