OmniFastLookupTable Class Reference

#include <OmniFastLookupTable.hh>

Collaboration diagram for OmniFastLookupTable:

Detailed Description

Perhaps the most useful class of the library, it gives us a panoramic image given an omnidirectional one. The conversion is at most independent from the mirror used.

Definition at line 44 of file OmniFastLookupTable.hh.

Public Member Functions

OmniFastLookupTable (int min_radius, int max_radius, int omni_center_x_pixel, int omni_center_y_pixel, double theta_step=0, bool flipped_mode=false)

Constructor.

virtual ~OmniFastLookupTable ()

void angle_type_conversion (const OmniAngle< double > &in_double_interval, OmniAngle< int > &out_int_interval)

Convert an OmniAngle object from its <double> version ot its <int>.

IplImage * omni2pano (IplImage *omni_frame, const OmniAngle< int > &IN_interval)

Conversion between omni frame and panoramic one.

void pano2omni_xy (CvPoint *pano_point, int theta_start, CvPoint *omni_point)

Converts a panoimage xy coord to a omniimage xy coord.

int get_min_radius ()

int get_max_radius ()

int get_omni_center_x ()

int get_omni_center_y ()

bool is_initialized ()

Specify whether the class is initialized or not.

Private Types

typedef OmniFastLookupTable::_image_coord_xy pano_coord_xy

typedef OmniFastLookupTable::_image_coord_xy * pano_coord_xy_ptr

typedef OmniFastLookupTable::_image_coord_xy omni_coord_xy

typedef OmniFastLookupTable::_image_coord_xy * omni_coord_xy_ptr

Private Member Functions

bool omnipano_lookup_table_make ()

Build the pre-computed values.

Private Attributes

OmniFastLookupTable::_omni_bounds omni_bounds

OmniFastLookupTable::_pano_bounds pano_bounds

Lookup table for panoramic image.

double _theta_step

int _theta_max

int _min_radius

int _max_radius

int _min_to_max_radius_range

bool _flipped_mode

Should be the final panoramic image be flipped?

int _omni_center_x_rgb

center pixel coord in omnidirectional image.

int _omni_center_y_rgb

center pixel coord in omnidirectional image.

int _omni_center_x

int _omni_center_y

bool _is_valid

Specify whether the class is initialized or not.

Classes

struct _image_coord_xy

struct _omni_bounds

struct _pano_bounds

Lookup table for panoramic image. More...

Member Typedef Documentation

typedef struct OmniFastLookupTable::_image_coord_xy OmniFastLookupTable::omni_coord_xy [private]

typedef struct OmniFastLookupTable::_image_coord_xy * OmniFastLookupTable::omni_coord_xy_ptr [private]

typedef struct OmniFastLookupTable::_image_coord_xy OmniFastLookupTable::pano_coord_xy [private]

typedef struct OmniFastLookupTable::_image_coord_xy * OmniFastLookupTable::pano_coord_xy_ptr [private]

Constructor & Destructor Documentation

OmniFastLookupTable::OmniFastLookupTable	(	int	min_radius,
		int	max_radius,
		int	omni_center_x_pixel,
		int	omni_center_y_pixel,
		double	theta_step = `0`,
		bool	flipped_mode = `false`
	)

Parameters:

	min_radius	Minimum radius to consider in an omnidirectional Image. This is done to avoid the super-definition of the pixels near the center.
	max_radius	The same as min_radius but for the external side.
	omni_center_x_pixel	The x-coordinate that represent the center of the omnidirectional image. It may differ from the normal image center.
	omni_center_y_pixel	The y-coordinate that represent the center of the omnidirectional image. It may differ from the normal image center.
	theta_step	If 0 it's autocomputed. Usually 1/max_radius. Used to known the theta step in double precision.
	flipped_mode	Should the result panoramic image be flipped? This option is useful for special omnidirectional images and flipped mirrors.

Definition at line 27 of file OmniFastLookupTable.cpp.

References _is_valid, _max_radius, _min_radius, _min_to_max_radius_range, _theta_max, _theta_step, and omnipano_lookup_table_make().

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OmniFastLookupTable::~OmniFastLookupTable ( ) [virtual]

Definition at line 68 of file OmniFastLookupTable.cpp.

References pano_bounds, OmniFastLookupTable::_pano_bounds::pano_data, and OmniFastLookupTable::_pano_bounds::width.

Member Function Documentation

void OmniFastLookupTable::angle_type_conversion	(	const OmniAngle< double > &	in_double_interval,
		OmniAngle< int > &	out_int_interval
	)

Parameters:

	in_double_interval	Input angle.
	out_int_interval	Output converted angle.

Definition at line 99 of file OmniFastLookupTable.cpp.

References _max_radius, _theta_max, OmniAngle< TypeT >::angle_end, OmniAngle< TypeT >::angle_start, is_initialized(), and OmniAngle< TypeT >::range.

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int OmniFastLookupTable::get_max_radius ( )

Definition at line 324 of file OmniFastLookupTable.cpp.

References _max_radius.

int OmniFastLookupTable::get_min_radius ( )

Definition at line 317 of file OmniFastLookupTable.cpp.

References _min_radius.

int OmniFastLookupTable::get_omni_center_x ( )

Definition at line 331 of file OmniFastLookupTable.cpp.

References _omni_center_x.

int OmniFastLookupTable::get_omni_center_y ( )

Definition at line 338 of file OmniFastLookupTable.cpp.

References _omni_center_y.

bool OmniFastLookupTable::is_initialized ( )

Definition at line 91 of file OmniFastLookupTable.cpp.

References _is_valid.

Referenced by angle_type_conversion(), StreamerCtrlThread::initializeOmniStuff(), ReceiverCtrlThread::initializeOmniStuff(), and omni2pano().

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IplImage * OmniFastLookupTable::omni2pano	(	IplImage *	omni_frame,
		const OmniAngle< int > &	IN_interval
	)

The great thing about this template is that you can overload as many time as you want this function, without change the main template.

Parameters:

	omni_frame	Frame of an omnidirectional image you want to convert to panoramic one.
	IN_interval	part of angle you want to convert to panoramic. It can also be specified as a 360 degree angle.

Definition at line 148 of file OmniFastLookupTable.cpp.

References _flipped_mode, _max_radius, _min_radius, _min_to_max_radius_range, _theta_max, OmniAngle< TypeT >::angle_start, DEBUG_PRINT, is_initialized(), NULL, OMNI_COORD, PANO_COORD, and OmniAngle< TypeT >::range.

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bool OmniFastLookupTable::omnipano_lookup_table_make ( ) [private]

Definition at line 232 of file OmniFastLookupTable.cpp.

References _max_radius, _min_radius, _omni_center_x_rgb, _omni_center_y_rgb, _theta_step, DEBUG_PRINT, OmniFastLookupTable::_pano_bounds::height, pano_bounds, OmniFastLookupTable::_pano_bounds::pano_data, OmniFastLookupTable::_pano_bounds::width, OmniFastLookupTable::_image_coord_xy::x_rgb, and OmniFastLookupTable::_image_coord_xy::y_rgb.

Referenced by OmniFastLookupTable().

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void OmniFastLookupTable::pano2omni_xy	(	CvPoint *	pano_point,
		int	theta_start,
		CvPoint *	omni_point
	)

This function is useful if you want to pass from a omni2pano's image point with a start_angle theta back to the point of the original omni image.

Parameters:

	pano_point	The point in the panoramic image we want to convert.
	theta_start	The angle of the point.
	omni_point	The resulting point.

Note:: Often this function does not return the *exact* point.

Bug:: Should be revised and tested more.

Definition at line 299 of file OmniFastLookupTable.cpp.

References _max_radius, _min_radius, _omni_center_x, and _omni_center_y.

Member Data Documentation

bool OmniFastLookupTable::_flipped_mode [private]

Definition at line 162 of file OmniFastLookupTable.hh.

Referenced by omni2pano().

bool OmniFastLookupTable::_is_valid [private]

Definition at line 180 of file OmniFastLookupTable.hh.

Referenced by is_initialized(), and OmniFastLookupTable().

int OmniFastLookupTable::_max_radius [private]

Definition at line 158 of file OmniFastLookupTable.hh.

Referenced by angle_type_conversion(), get_max_radius(), omni2pano(), OmniFastLookupTable(), omnipano_lookup_table_make(), and pano2omni_xy().

int OmniFastLookupTable::_min_radius [private]

Definition at line 157 of file OmniFastLookupTable.hh.

Referenced by get_min_radius(), omni2pano(), OmniFastLookupTable(), omnipano_lookup_table_make(), and pano2omni_xy().

int OmniFastLookupTable::_min_to_max_radius_range [private]

Definition at line 159 of file OmniFastLookupTable.hh.

Referenced by omni2pano(), and OmniFastLookupTable().

int OmniFastLookupTable::_omni_center_x [private]

Definition at line 176 of file OmniFastLookupTable.hh.

Referenced by get_omni_center_x(), and pano2omni_xy().

int OmniFastLookupTable::_omni_center_x_rgb [private]

These are used to fix the omniimage center's position, that can be not exact the same as the real omniimage

Definition at line 168 of file OmniFastLookupTable.hh.

Referenced by omnipano_lookup_table_make().

int OmniFastLookupTable::_omni_center_y [private]

Definition at line 177 of file OmniFastLookupTable.hh.

Referenced by get_omni_center_y(), and pano2omni_xy().

int OmniFastLookupTable::_omni_center_y_rgb [private]

These are used to fix the omniimage center's position, that can be not exact the same as the real omniimage

Definition at line 174 of file OmniFastLookupTable.hh.

Referenced by omnipano_lookup_table_make().

int OmniFastLookupTable::_theta_max [private]

Definition at line 156 of file OmniFastLookupTable.hh.

Referenced by angle_type_conversion(), omni2pano(), and OmniFastLookupTable().

double OmniFastLookupTable::_theta_step [private]

Definition at line 155 of file OmniFastLookupTable.hh.

Referenced by OmniFastLookupTable(), and omnipano_lookup_table_make().

struct OmniFastLookupTable::_omni_bounds OmniFastLookupTable::omni_bounds [private]

struct OmniFastLookupTable::_pano_bounds OmniFastLookupTable::pano_bounds [private]

Referenced by omnipano_lookup_table_make(), and ~OmniFastLookupTable().

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

Generated on Tue Dec 26 10:37:44 2006 for Omnimeeting by

1.4.7


Public Member Functions
	OmniFastLookupTable (int min_radius, int max_radius, int omni_center_x_pixel, int omni_center_y_pixel, double theta_step=0, bool flipped_mode=false)
	Constructor.
virtual	~OmniFastLookupTable ()
void	angle_type_conversion (const OmniAngle< double > &in_double_interval, OmniAngle< int > &out_int_interval)
	Convert an OmniAngle object from its <double> version ot its <int>.
IplImage *	omni2pano (IplImage *omni_frame, const OmniAngle< int > &IN_interval)
	Conversion between omni frame and panoramic one.
void	pano2omni_xy (CvPoint pano_point, int theta_start, CvPoint omni_point)
	Converts a panoimage xy coord to a omniimage xy coord.
int	get_min_radius ()
int	get_max_radius ()
int	get_omni_center_x ()
int	get_omni_center_y ()
bool	is_initialized ()
	Specify whether the class is initialized or not.
Private Types
typedef OmniFastLookupTable::_image_coord_xy	pano_coord_xy
typedef OmniFastLookupTable::_image_coord_xy *	pano_coord_xy_ptr
typedef OmniFastLookupTable::_image_coord_xy	omni_coord_xy
typedef OmniFastLookupTable::_image_coord_xy *	omni_coord_xy_ptr
Private Member Functions
bool	omnipano_lookup_table_make ()
	Build the pre-computed values.
Private Attributes
OmniFastLookupTable::_omni_bounds	omni_bounds
OmniFastLookupTable::_pano_bounds	pano_bounds
	Lookup table for panoramic image.
double	_theta_step
int	_theta_max
int	_min_radius
int	_max_radius
int	_min_to_max_radius_range
bool	_flipped_mode
	Should be the final panoramic image be flipped?
int	_omni_center_x_rgb
	center pixel coord in omnidirectional image.
int	_omni_center_y_rgb
	center pixel coord in omnidirectional image.
int	_omni_center_x
int	_omni_center_y
bool	_is_valid
	Specify whether the class is initialized or not.
Classes
struct	_image_coord_xy
struct	_omni_bounds
struct	_pano_bounds
	Lookup table for panoramic image. More...