OpticalFlow Class Reference

#include <OpticalFlow.h>

Inheritance diagram for OpticalFlow:

Detailed Description

Definition at line 30 of file OpticalFlow.h.

Public Member Functions
	OpticalFlow ()
	OpticalFlow (OpticalFlow &other)
virtual	~OpticalFlow ()
void	updateFlow ()
	Update the current flow vectors and increment the integrated angle.
void	drawFlow ()
	Draw the optical flow vectors in the camera shape space.
void	swapPyramids ()
void	initializePositions ()
	Select the features that we are going to track.
float	getIntegratedFlow ()
void	computeRelevanceScores ()
	Compute scores for vectors to determine outliers.
Static Public Member Functions
static bool	myFlowComp (const FlowVector &v1, const FlowVector &v2)
	Comparison function to sort the flow vectors by horizontal translation.
static bool	myFlowComp2 (const FlowVector &v1, const FlowVector &v2)
	Comparison function in order to sort the flow vectors by relevance score.
static bool	scoreComp (const ScorePoint &p1, const ScorePoint &p2)
static fmat::Column< 2 >	iterativeLucasKanade (fmat::Column< 2 > center, fmat::Column< 2 > trans, RawImage &img1, RawImage &img2, int window)
	Lucas-Kanade optic flow algorithm.
Static Public Attributes
static const unsigned int	SCORE_LAYER = 0
	Image layer from which we select features to track.
static const unsigned int	NUM_FLOW_VECTORS = 50
	Number of flow vectors to calculate.
static const unsigned int	FLOW_WINDOW = 2
	Size of width/2, height/2 of the feature when we calculate flow.
static const unsigned int	SCORE_WINDOW = 1
	Size of width/2, height/2 of the feature when we select them for flow calculation.
static const unsigned int	NUM_FRAMES = 10
	Number of frames we remember about the history of the robot's motion. Used for removing outliers.
static const unsigned int	CANDIDATE_FEATURE_RESOLUTION = 30
	Number of pixels per grid square when calculating minimum eigenvalues.
Protected Attributes
float	integratedFlow
Private Member Functions
OpticalFlow &	operator= (const OpticalFlow &other)
Private Attributes
std::vector< FlowVector >	flowVectors
std::vector< DualCoding::Shape < DualCoding::LineData > >	flowVectorVisuals
std::vector< float >	pastTranslations
RawImagePyramid	pyramid1
RawImagePyramid	pyramid2
RawImagePyramid *	currPyramid
RawImagePyramid *	prevPyramid

Constructor & Destructor Documentation

OpticalFlow::OpticalFlow ( )

Definition at line 6 of file OpticalFlow.cc.

OpticalFlow::OpticalFlow ( OpticalFlow & other )

virtual OpticalFlow::~OpticalFlow ( ) [virtual]

Definition at line 57 of file OpticalFlow.h.

Member Function Documentation

void OpticalFlow::computeRelevanceScores ( )

Compute scores for vectors to determine outliers.

The lower the score, the better. Uses the idea that the robot's motion is continuous. Gives high score to vectors that are far away from the robot's history of motion.

Definition at line 19 of file OpticalFlow.cc.

Referenced by updateFlow().

void OpticalFlow::drawFlow ( )

Draw the optical flow vectors in the camera shape space.

Definition at line 76 of file OpticalFlow.cc.

float OpticalFlow::getIntegratedFlow ( )

Definition at line 83 of file OpticalFlow.h.

void OpticalFlow::initializePositions ( )

Select the features that we are going to track.

The features are scored by the magnitude of their minimum eigenvalue. Then, the features wpith the largest score are selected.

Definition at line 97 of file OpticalFlow.cc.

Referenced by updateFlow().

fmat::Column< 2 > OpticalFlow::iterativeLucasKanade	(	fmat::Column< 2 >	center,
		fmat::Column< 2 >	trans,
		RawImage &	img1,
		RawImage &	img2,
		int	window
	)			`[static]`