MipAlgorithms::BearExtrCamPar Class Reference

Parameters of the BearExtrCam algorithm. It contains every static parameter computed at a certain height specified by _sonarStaticHeight field. More...

#include <BearExtrCamUtils.h>

List of all members.

Public Member Functions

 BearExtrCamPar ()
 Default contructor.
 BearExtrCamPar (const uint &w, const uint &h, const int &acm, const int &acM, const Decimal &rndThr, const Decimal &crThr, const int &sigmaBlr, const int &edgeThr, const int &mv, const int &ta, const Decimal &ssh, const Position3DArma &pos, const Roto3DArma &rot, const int &wROI, const int &hROI, const int &acmRect, const int &acMRect, const Decimal &sbRect, const int &edthrRect, const Decimal &time, const bool &ur)
 Complete contructor.
 BearExtrCamPar (const Position3DArma &pos, const Roto3DArma &rot)
 Constructor with only relative measurement between sonar and quadrotor (w.r.t. quadrotor).
 BearExtrCamPar (const Decimal &w, const Decimal &h, const Position3DArma &pos, const Roto3DArma &rot)
 Constructor with only relative measurement between sonar and quadrotor (w.r.t. quadrotor).
 BearExtrCamPar (const BearExtrCamPar &A)
 Copy constructor.
BearExtrCamPar & operator= (const BearExtrCamPar &A)
 Assignment operator.
 ~BearExtrCamPar ()
 Default destructor.
uint getWidthCamera () const
 Get the width of the camera.
uint getHeightCamera () const
 Get the height of the camera.
int getAreaCircMin () const
 Get the minimum area where a circle is identified in pixels.
int getAreaCircMax () const
 Get the maximum area where a circle is identified in pixels.
Decimal getRndThr () const
 Get the roundness threshold.
Decimal getCrThr () const
 Get the circle rectangle proximity threshold.
int getSigmaBlur () const
 Get the sigma blur threshold for Gaussian smoothing.
int getEdgeThr () const
 Get the edge threshold.
int getMaxVal () const
 Get the visualization option.
int getTypeThrAlgo () const
 Get the type of algorithm to be set into thresholding.
Decimal getStaticSonarHeight () const
 Get the static sonar height where all the static parameters are set.
Position3DArma getSonarQuadPos () const
 Get the relative position between quadrotor and sonar (w.r.t. quadrotor).
Roto3DArma getSonarQuadRot () const
 Get the relative rotation between quadrotor and sonar (w.r.t. quadrotor).
int getWidthROI () const
 Get the width of ROI in pixels.
int getHeightROI () const
 Get the height of ROI in pixels.
int getAreaCircMinRect () const
 Get the minimum area where a rectangle is identified in pixels.
int getAreaCircMaxRect () const
 Get the maximum area where a rectangle is identified in pixels.
int getSigmaBlurRect () const
 Get the sigma blur threshold for Gaussian smoothing for rectangle definition.
int getEdgeThrRect () const
 Get the edge threshold for rectangle.
Decimal getSearchNewFeatureTimer () const
 Get the edge threshold for rectangle.
bool getUseRect () const
 Get if one wants to search rectangles around circles.
void setWidthCamera (const uint &w)
 Set the width of the camera.
void setHeightCamera (const uint &h)
 Set the height of the camera.
void setAreaCircMin (const int &mca)
 Set the minimum area of circle to be detected.
void setAreaCircMax (const int &mca)
 Set the maximum area of circle to be detected.
Decimal setRndThr (const Decimal &rndThr)
 Set the roundness.
Decimal setCrThr (const Decimal &crThr)
 Set the circle rectangle proximity threshold.
void setSigmaBlur (const int &sb)
 Set the sigma for Gaussian smoothing.
void setEdgeThr (const int &et)
 Set the edge threshold.
void setMaxVal (const int &vo)
 Set the visualization option.
void setTypeThrAlgo (const int &at)
 Set the type of algorithm to be set into thresholding.
void setStaticSonarHeight (const Decimal &h)
 Set the static sonar height where all the static parameters are set.
void setSonarQuadPos (const Position3DArma &pos)
 Get the relative position between quadrotor and sonar (w.r.t. quadrotor).
void setSonarQuadRot (const Roto3DArma &rot)
 Get the relative rotation between quadrotor and sonar (w.r.t. quadrotor).
void setWidthROI (const int &wROI)
 Set the width of ROI in pixels to be set.
void setHeightROI (const int &hROI)
 Set the height of ROI in pixels to be set.
void setAreaCircMinRect (const int &mca)
 Set the minimum area of rectangle to be detected.
void setAreaCircMaxRect (const int &mca)
 Set the maximum area of rectangle to be detected.
void setSigmaBlurRect (const int &sb)
 Set the sigma for Gaussian smoothing for rectangle definition.
void setEdgeThrRect (const int &et)
 Set the edge threshold for rectangles.
void setSearchNewFeatureTimer (const Decimal &time)
 Get the edge threshold for rectangle.
void setUseRect (const bool &ur)
 Set if one wants to search rectangles around circles.

Detailed Description

Parameters of the BearExtrCam algorithm. It contains every static parameter computed at a certain height specified by _sonarStaticHeight field.

Author:
Marco Cognetti

Constructor & Destructor Documentation

MipAlgorithms::BearExtrCamPar::BearExtrCamPar (  ) 

Default contructor.

MipAlgorithms::BearExtrCamPar::BearExtrCamPar ( const uint &  w,
const uint &  h,
const int &  acm,
const int &  acM,
const Decimal &  rndThr,
const Decimal &  crThr,
const int &  sigmaBlr,
const int &  edgeThr,
const int &  mv,
const int &  ta,
const Decimal &  ssh,
const Position3DArma &  pos,
const Roto3DArma &  rot,
const int &  wROI,
const int &  hROI,
const int &  acmRect,
const int &  acMRect,
const Decimal &  sbRect,
const int &  edthrRect,
const Decimal &  time,
const bool &  ur 
)

Complete contructor.

MipAlgorithms::BearExtrCamPar::BearExtrCamPar ( const Position3DArma &  pos,
const Roto3DArma &  rot 
)

Constructor with only relative measurement between sonar and quadrotor (w.r.t. quadrotor).

Parameters:
[in] pos Position of sonar w.r.t. quadrotor
[in] rot Rotation of sonar w.r.t. quadrotor

MipAlgorithms::BearExtrCamPar::BearExtrCamPar ( const Decimal &  w,
const Decimal &  h,
const Position3DArma &  pos,
const Roto3DArma &  rot 
)

Constructor with only relative measurement between sonar and quadrotor (w.r.t. quadrotor).

Parameters:
[in] pos Position of sonar w.r.t. quadrotor
[in] rot Rotation of sonar w.r.t. quadrotor

MipAlgorithms::BearExtrCamPar::BearExtrCamPar ( const BearExtrCamPar &  A  ) 

Copy constructor.

MipAlgorithms::BearExtrCamPar::~BearExtrCamPar (  ) 

Default destructor.

Member Function Documentation

MipAlgorithms::BearExtrCamPar & MipAlgorithms::BearExtrCamPar::operator= ( const BearExtrCamPar &  A  ) 

Assignment operator.

uint MipAlgorithms::BearExtrCamPar::getWidthCamera (  )  const

Get the width of the camera.

Returns:
Width of the camera

uint MipAlgorithms::BearExtrCamPar::getHeightCamera (  )  const

Get the height of the camera.

Returns:
Height of the camera

int MipAlgorithms::BearExtrCamPar::getAreaCircMin (  )  const

Get the minimum area where a circle is identified in pixels.

Returns:
Minimim circle area

int MipAlgorithms::BearExtrCamPar::getAreaCircMax (  )  const

Get the maximum area where a circle is identified in pixels.

Returns:
Maximum circle area

Decimal MipAlgorithms::BearExtrCamPar::getRndThr (  )  const

Get the roundness threshold.

Returns:
Roundness threshold

Decimal MipAlgorithms::BearExtrCamPar::getCrThr (  )  const

Get the circle rectangle proximity threshold.

Returns:
Circle - rectangle proximity threshold

int MipAlgorithms::BearExtrCamPar::getSigmaBlur (  )  const

Get the sigma blur threshold for Gaussian smoothing.

Returns:
Sigma blur threshold for Gaussian smoothing

int MipAlgorithms::BearExtrCamPar::getEdgeThr (  )  const

Get the edge threshold.

Returns:
Edge threshold

int MipAlgorithms::BearExtrCamPar::getMaxVal (  )  const

Get the visualization option.

Returns:
Visualization option

int MipAlgorithms::BearExtrCamPar::getTypeThrAlgo (  )  const

Get the type of algorithm to be set into thresholding.

Returns:
Type of algorithm of thresholding

Decimal MipAlgorithms::BearExtrCamPar::getStaticSonarHeight (  )  const

Get the static sonar height where all the static parameters are set.

Returns:
Static height where the measurement is set

Position3DArma MipAlgorithms::BearExtrCamPar::getSonarQuadPos (  )  const

Get the relative position between quadrotor and sonar (w.r.t. quadrotor).

Returns:
Relative position between quadrotor and sonar (w.r.t. quadrotor)

Roto3DArma MipAlgorithms::BearExtrCamPar::getSonarQuadRot (  )  const

Get the relative rotation between quadrotor and sonar (w.r.t. quadrotor).

Returns:
Relative rotation between quadrotor and sonar (w.r.t. quadrotor)

int MipAlgorithms::BearExtrCamPar::getWidthROI (  )  const

Get the width of ROI in pixels.

Returns:
Width of ROI in pixels

int MipAlgorithms::BearExtrCamPar::getHeightROI (  )  const

Get the height of ROI in pixels.

Returns:
Height of ROI in pixels

int MipAlgorithms::BearExtrCamPar::getAreaCircMinRect (  )  const

Get the minimum area where a rectangle is identified in pixels.

Returns:
Minimim rectangle area

int MipAlgorithms::BearExtrCamPar::getAreaCircMaxRect (  )  const

Get the maximum area where a rectangle is identified in pixels.

Returns:
Maximum rectangle area

int MipAlgorithms::BearExtrCamPar::getSigmaBlurRect (  )  const

Get the sigma blur threshold for Gaussian smoothing for rectangle definition.

Returns:
Sigma blur threshold for Gaussian smoothing for rectangle definition

int MipAlgorithms::BearExtrCamPar::getEdgeThrRect (  )  const

Get the edge threshold for rectangle.

Returns:
Edge threshold for rectangle

Decimal MipAlgorithms::BearExtrCamPar::getSearchNewFeatureTimer (  )  const

Get the edge threshold for rectangle.

Returns:
Edge threshold for rectangle

bool MipAlgorithms::BearExtrCamPar::getUseRect (  )  const

Get if one wants to search rectangles around circles.

Returns:
Boolean to check if one wants to search rectangles around circles

void MipAlgorithms::BearExtrCamPar::setWidthCamera ( const uint &  w  ) 

Set the width of the camera.

Parameters:
[in] w Width of the camera to be set

void MipAlgorithms::BearExtrCamPar::setHeightCamera ( const uint &  h  ) 

Set the height of the camera.

Parameters:
[in] h Height of the camera to be set

void MipAlgorithms::BearExtrCamPar::setAreaCircMin ( const int &  mca  ) 

Set the minimum area of circle to be detected.

Parameters:
[in] mca Minimum circle area to be set

void MipAlgorithms::BearExtrCamPar::setAreaCircMax ( const int &  mca  ) 

Set the maximum area of circle to be detected.

Parameters:
[in] mca Maximum circle area to be set

Decimal MipAlgorithms::BearExtrCamPar::setRndThr ( const Decimal &  rndThr  ) 

Set the roundness.

Parameters:
[in] rndThr Roundness to be set

Decimal MipAlgorithms::BearExtrCamPar::setCrThr ( const Decimal &  crThr  ) 

Set the circle rectangle proximity threshold.

Parameters:
[in] crThr Circle - rectangle proximity threshold to be set

void MipAlgorithms::BearExtrCamPar::setSigmaBlur ( const int &  sb  ) 

Set the sigma for Gaussian smoothing.

Parameters:
[in] sb Sigma for Gaussian smoothing

void MipAlgorithms::BearExtrCamPar::setEdgeThr ( const int &  et  ) 

Set the edge threshold.

Parameters:
[in] et Edge threshold to be set

void MipAlgorithms::BearExtrCamPar::setMaxVal ( const int &  vo  ) 

Set the visualization option.

Parameters:
[in] vo Visualization option

void MipAlgorithms::BearExtrCamPar::setTypeThrAlgo ( const int &  at  ) 

Set the type of algorithm to be set into thresholding.

Parameters:
[in] at Type of algorithm of thresholding

void MipAlgorithms::BearExtrCamPar::setStaticSonarHeight ( const Decimal &  h  ) 

Set the static sonar height where all the static parameters are set.

Parameters:
[in] h Static height where the parameters are referred to

void MipAlgorithms::BearExtrCamPar::setSonarQuadPos ( const Position3DArma &  pos  ) 

Get the relative position between quadrotor and sonar (w.r.t. quadrotor).

Parameters:
[in] pos Relative position between quadrotor and sonar (w.r.t. quadrotor)

void MipAlgorithms::BearExtrCamPar::setSonarQuadRot ( const Roto3DArma &  rot  ) 

Get the relative rotation between quadrotor and sonar (w.r.t. quadrotor).

Parameters:
[in] rot Relative rotation between quadrotor and sonar (w.r.t. quadrotor)

void MipAlgorithms::BearExtrCamPar::setWidthROI ( const int &  wROI  ) 

Set the width of ROI in pixels to be set.

Parameters:
[in] wROI Width of ROI in pixels to be set

void MipAlgorithms::BearExtrCamPar::setHeightROI ( const int &  hROI  ) 

Set the height of ROI in pixels to be set.

Parameters:
[in] hROI Height of ROI in pixels to be set

void MipAlgorithms::BearExtrCamPar::setAreaCircMinRect ( const int &  mca  ) 

Set the minimum area of rectangle to be detected.

Parameters:
[in] mca Minimum rectangle area to be set

void MipAlgorithms::BearExtrCamPar::setAreaCircMaxRect ( const int &  mca  ) 

Set the maximum area of rectangle to be detected.

Parameters:
[in] mca Maximum circle rectangle to be set

void MipAlgorithms::BearExtrCamPar::setSigmaBlurRect ( const int &  sb  ) 

Set the sigma for Gaussian smoothing for rectangle definition.

Parameters:
[in] sb Sigma for Gaussian smoothing for rectangle definition

void MipAlgorithms::BearExtrCamPar::setEdgeThrRect ( const int &  et  ) 

Set the edge threshold for rectangles.

Parameters:
[in] et Edge threshold to be set for rectangles

void MipAlgorithms::BearExtrCamPar::setSearchNewFeatureTimer ( const Decimal &  time  ) 

Get the edge threshold for rectangle.

Parameters:
[in] time Time between two searching feature process

void MipAlgorithms::BearExtrCamPar::setUseRect ( const bool &  ur  ) 

Set if one wants to search rectangles around circles.

Parameters:
[in] ur Boolean to check if one wants to search rectangles around circles

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