fitter_viz.h File Reference

#include <ed/entity.h>
#include <ed/world_model.h>
#include <ed/kinect/fitter.h>
#include <geolib/math_types.h>
#include <opencv2/highgui/highgui.hpp>

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Go to the source code of this file.

Functions
void	drawLine (const cv::Mat &canvas, geo::Vec2 point1, geo::Vec2 point2, geo::Transform2 pose, float resolution, int origin_x, int origin_y, cv::Scalar colour)
	drawLine, draw a line in 2D metric space on a canvas More...
void	drawShape2D (const cv::Mat &canvas, const Shape2D &shape, geo::Transform2 pose, float resolution, int origin_x, int origin_y, cv::Scalar colour)
	drawShape2D draw a 2D shape defined in 2D metric space on a canvas. More...
cv::Scalar	entity_colour (0, 255, 255)
cv::Scalar	fitted_colour (243, 192, 15)
cv::Scalar	measurement_colour (161, 17, 187)
cv::Scalar	sensor_colour (0, 255, 0)
cv::Point	sensorlocation (sensor_x, sensor_y)
cv::Mat	visualizeFitting (EntityRepresentation2D entity, geo::Transform2 sensor_pose, geo::Transform2 entity_pose, geo::Transform2 fitted_pose, FitterData fitterdata, bool estimateEntityPose)

Variables
int	canvas_height = 600
float	canvas_resolution = 100
int	canvas_width = 800
int	sensor_x = canvas_width/2
int	sensor_y = canvas_height * 8/10

Function Documentation

drawLine()

void drawLine	(	const cv::Mat &	canvas,
		geo::Vec2	point1,
		geo::Vec2	point2,
		geo::Transform2	pose,
		float	resolution,
		int	origin_x,
		int	origin_y,
		cv::Scalar	colour
	)

drawLine, draw a line in 2D metric space on a canvas

Parameters

canvas	canvas to draw the line to
point1	first point defining the line in map frame
point2	second point defining the line in map frame
pose	position of the sensor in map frame.
resolution	pixels per meter
origin_x	location in pixels of the sensor on the canvas
origin_y	location in pixels of the sensor on the canvas
colour	colour to draw the line

Definition at line 39 of file fitter_viz.h.

drawShape2D()

void drawShape2D	(	const cv::Mat &	canvas,
		const Shape2D &	shape,
		geo::Transform2	pose,
		float	resolution,
		int	origin_x,
		int	origin_y,
		cv::Scalar	colour
	)

drawShape2D draw a 2D shape defined in 2D metric space on a canvas.

Parameters

canvas	canvas to draw to
shape	2D shape to draw
pose	pose in meters of the center of the shape.
resolution	pixels per meter
origin_x	postion of the origin in pixels
origin_y	position of the origin in pixels
colour	colour to draw the shape in.

Definition at line 78 of file fitter_viz.h.

entity_colour()

cv::Scalar entity_colour	(	0	,
		255	,
		255
	)

fitted_colour()

cv::Scalar fitted_colour	(	243	,
		192	,
		15
	)

measurement_colour()

cv::Scalar measurement_colour	(	161	,
		17	,
		187
	)

sensor_colour()

cv::Scalar sensor_colour	(	0	,
		255	,
		0
	)

sensorlocation()

cv::Point sensorlocation	(	sensor_x	,
		sensor_y
	)

visualizeFitting()

cv::Mat visualizeFitting	(	EntityRepresentation2D	entity,
		geo::Transform2	sensor_pose,
		geo::Transform2	entity_pose,
		geo::Transform2	fitted_pose,
		FitterData	fitterdata,
		bool	estimateEntityPose
	)

create an image displaying the fitted entity along with the information used in fitting.

Displays the fitted entity, sensor data used in fitting and the original pose of the entity prior to fitting.

Note that sensor_pose, entity_pose and fitted_pose must be expressed in the same coordinate frame

Parameters

entity	shape of the entity that was fitted
sensor_pose	pose of the sensor
entity_pose	estimated pose of the entity prior to fitting
fitted_pose	estimated pose of the entity after fitting
fitterdata	fitterdata used in fitting the entity.
estimateEntityPose	whether or not the fitting encountered errors

Returns

Definition at line 114 of file fitter_viz.h.

Variable Documentation

canvas_height

int canvas_height = 600

Definition at line 16 of file fitter_viz.h.

canvas_resolution

float canvas_resolution = 100

Definition at line 17 of file fitter_viz.h.

canvas_width

int canvas_width = 800

Definition at line 15 of file fitter_viz.h.

sensor_x

int sensor_x = canvas_width/2

Definition at line 19 of file fitter_viz.h.

sensor_y

int sensor_y = canvas_height * 8/10

Definition at line 20 of file fitter_viz.h.