#include <SensorSet.h>

Inheritance diagram for CornerSensor:

Collaboration diagram for CornerSensor:

[legend]

Public Member Functions
	CornerSensor ()

bool	performUpdate ()

std::ostream &	print (std::ostream &os) const

Public Member Functions inherited from PPSensor
	PPSensor ()

virtual float	getValue (int x, int y) const

virtual Point	getGradient (int x, int y) const

Sensor &	assign (const Sensor &rhs)

void	togglePP (enum PPState state=PP_DO)

dword	getPPState () const

Public Member Functions inherited from Sensor
virtual	~Sensor ()

sensor_cptr	getSource ()

virtual void	changeSource (sensor_cptr _source)

void	replaceBy (sensor_ptr target)

bool	assignRef (sensor_cptr rhs)

float	getValue (const Point &p) const
	get value at position p using nearest neighbour interpolation More...

virtual std::vector< float >	getMValue (int x, int y) const
	get multi-channel value More...

Point2D	getGradient (const Point2D &p) const
	get gradient at position p using nearest neighbor interpolation More...

float	getMax () const

float	getMin () const

float	getMinMaxRange () const

float	getWeightedValue (int x, int y) const
	get max normalized value at discrete position range [0,1] More...

Point2D	getWeightedGradient (int x, int y) const
	get range weighted gradient at discrete position More...

void	setCWeights (const std::vector< float > &weights)

const std::vector< float > &	getCWeights () const

void	setDirection (const Point &dir)

const Point &	getDirection () const

void	setScale (float _scale)

float	getScale () const

bool	isModified (dword mask=UPD_ALL) const

void	setModified (dword mask=UPD_ALL)

void	unsetModified (dword mask=UPD_ALL)

bool	isUpdate (dword udMask) const

void	enableUpdate (dword udMask)

void	disableUpdate (dword udMask)

virtual int	getDim1Size () const

virtual int	getDim2Size () const

virtual int	getDim3Size () const

virtual int	getNChannels () const

virtual int	getSkip () const

bool	isValid (int x, int y) const

virtual Image< float >	createSensorImage () const

const std::string &	getID () const

void	setID (const std::string &id)

virtual std::ostream &	hprint (std::ostream &os, SensorCollection *sc) const

void	refSuperSensor (sensor_ptr super)

void	unrefSuperSensor (sensor_ptr super)

void	invalidateSource ()

template<typename Derived >
std::shared_ptr< Derived >	shared_from_base ()

Protected Member Functions
float	calcValue (int x, int y) const

Protected Member Functions inherited from PPSensor
void	fitSheets ()

virtual void	calcAllValues ()

virtual void	calcAllGradients ()

Protected Member Functions inherited from Sensor
	Sensor (dword updateMask)

	Sensor ()

virtual std::vector< float >	calcMValue (int x, int y) const

virtual Point	calcGradient (int x, int y) const

virtual void	calcMinMax ()

Additional Inherited Members
Public Types inherited from PPSensor
enum	PPState { PP_DONT =0, PP_DO, PP_FORCE }

Public Types inherited from Sensor
enum	UpdateParam { UPD_NOTHING =0, UPD_DATA =1, UPD_SCALE =2, UPD_CWEIGHTS =4, UPD_DIR =8, UPD_MINMAX =16, UPD_LAST =32, UPD_ALL =0xffffffff }

Static Public Member Functions inherited from Sensor
static dword	getStringNumber (const char *sid)

static void	getNumberString (char sid[5], dword id)

Protected Attributes inherited from PPSensor
Image< float >	values
	caching sheet for sensed values More...

Image< Point >	gradients
	caching sheet for gradients More...

dword	doPP
	do preprocessing? More...

Protected Attributes inherited from Sensor
sensor_cptr	source

float	scale

std::vector< float >	cweights
	multi-channel weights ('color') More...

Point	dir
	direction parameter More...

float	maxval

float	minval
	overall minimum and maximum More...

float	mean

float	stdev
	overall mean and stdev More...

dword	toupdate
	bitflag for updates More...

dword	updateMask
	bitflag to mask unimportant updates More...

std::string	m_ID

int	m_Skip

int	m_AddSkip

Detailed Description

curvature Sensor

Definition at line 202 of file SensorSet.h.

Constructor & Destructor Documentation

CornerSensor::CornerSensor ( )

inline

Definition at line 204 of file SensorSet.h.

References Sensor::enableUpdate(), Sensor::m_AddSkip, PPSensor::PP_FORCE, and Sensor::UPD_DATA.

         {
             enableUpdate(UPD_DATA);
             togglePP(PPSensor::PP_FORCE);
             m_AddSkip = 3;
         };

Member Function Documentation

float CornerSensor::calcValue	(	int	x,
		int	y
	)		const

inlineprotectedvirtual

Compute cornerness

Implements Sensor.

Definition at line 224 of file SensorSet.h.

References Sensor::isValid(), Point2D::normalize(), Sensor::source, Point2D::x, and Point2D::y.

                                         {
         if(!isValid(x,y)) return 0;
         float value = source->getValue(x,y);
         if(value==0) return 0;
         Point c=source->getGradient(x,y);
         Point ddx = source->getGradient(x+1,y)-c;
         Point ddy = source->getGradient(x,y+1)-c;
 //#define SS_GRADIENT_WEIGHTED_DETERMINANT
 #ifdef SS_GRADIENT_WEIGHTED_DETERMINANT
         float n1 = ddx.normalize();
         float n2 = ddy.normalize();
         float det = ddx.x*ddy.y-ddx.y*ddy.x;
         det *= min(n1,n2);
 #else
         float det = ddx.x*ddy.y-ddx.y*ddy.x;
 #endif
         if(det<0) return 0; // repelling regions are no good
         float ret=det*value;
         return ret;
 /* using eigenvalues
 //cout << det;
 //cout << ddx << endl << ddy << endl;
 float p = (ddx.x+ddy.y)/2;
 float d = sqrt(p*p-ddx.x*ddy.y+ddx.y*ddy.x);
 //cout << "p=" << p << " d=" << d<<endl;
 float e1 = p+d;
 float e2 = p-d;
 //cout << "e1="<<e1<<" e2="<<e2<<endl;
 //cout << "---------------------" << endl;
 return e1*e2;
 */
     }

bool CornerSensor::performUpdate ( )

inlinevirtual

clear all data sheets

Reimplemented from PPSensor.

Definition at line 211 of file SensorSet.h.

References Sensor::isModified(), Sensor::m_AddSkip, Sensor::m_Skip, PPSensor::performUpdate(), Sensor::source, and Sensor::UPD_DATA.

                          {
         if(isModified(UPD_DATA)) {
             m_Skip = source->getSkip()+m_AddSkip;
         }
         return PPSensor::performUpdate();
     }

std::ostream& CornerSensor::print ( std::ostream & os ) const

inlinevirtual

Reimplemented from Sensor.

Definition at line 217 of file SensorSet.h.

References Sensor::print().

                                             {
         Sensor::print(os)
             << "c";
         return os;
     }

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

src/SensorSet.h

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation