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Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
Localizer Class Reference

#include <localizer.h>

+ Inheritance diagram for Localizer:

Public Member Functions

 Localizer (ExchangeData *_commData, const unsigned int _period)
 
virtual ~Localizer ()
 
double getDistFromVergence (const double ver)
 
void getPidOptions (Bottle &options)
 
void setPidOptions (const Bottle &options)
 
bool projectPoint (const string &type, const Vector &x, Vector &px)
 
bool projectPoint (const string &type, const double u, const double v, const double z, Vector &x)
 
bool projectPoint (const string &type, const double u, const double v, const Vector &plane, Vector &x)
 
bool triangulatePoint (const Vector &pxl, const Vector &pxr, Vector &x)
 
Vector getAbsAngles (const Vector &x)
 
Vector get3DPoint (const string &type, const Vector &ang)
 
bool getIntrinsicsMatrix (const string &type, Matrix &M, int &w, int &h)
 
bool setIntrinsicsMatrix (const string &type, const Matrix &M, const int w, const int h)
 
bool threadInit ()
 
void threadRelease ()
 
void afterStart (bool s)
 
void run ()
 
- Public Member Functions inherited from GazeComponent
virtual bool getExtrinsicsMatrix (const string &type, Matrix &M)
 
virtual bool setExtrinsicsMatrix (const string &type, const Matrix &M)
 
virtual void minAllowedVergenceChanged ()
 

Protected Member Functions

void handleMonocularInput ()
 
void handleStereoInput ()
 
void handleAnglesInput ()
 
void handleAnglesOutput ()
 

Protected Attributes

mutex mtx
 
ExchangeData * commData
 
BufferedPort< Bottle > port_mono
 
BufferedPort< Bottle > port_stereo
 
BufferedPort< Bottle > port_anglesIn
 
BufferedPort< Vector > port_anglesOut
 
Stamp txInfo_ang
 
unsigned int period
 
Matrix eyeCAbsFrame
 
Matrix invEyeCAbsFrame
 
double eyesHalfBaseline
 
Matrix * PrjL
 
Matrix * invPrjL
 
Matrix * PrjR
 
Matrix * invPrjR
 
int widthL
 
int heightL
 
int widthR
 
int heightR
 
double cxl
 
double cyl
 
double cxr
 
double cyr
 
parallelPID * pid
 
string dominantEye
 
- Protected Attributes inherited from GazeComponent
iCubEye * eyeL {nullptr}
 
iCubEye * eyeR {nullptr}
 

Detailed Description

Definition at line 44 of file localizer.h.

Constructor & Destructor Documentation

◆ Localizer()

Localizer::Localizer ( ExchangeData *  _commData,
const unsigned int  _period 
)

Definition at line 28 of file localizer.cpp.

◆ ~Localizer()

Localizer::~Localizer ( )
virtual

Definition at line 127 of file localizer.cpp.

Member Function Documentation

◆ afterStart()

void Localizer::afterStart ( bool  s)

Definition at line 175 of file localizer.cpp.

◆ get3DPoint()

Vector Localizer::get3DPoint ( const string &  type,
const Vector &  ang 
)

Definition at line 229 of file localizer.cpp.

◆ getAbsAngles()

Vector Localizer::getAbsAngles ( const Vector &  x)

Definition at line 210 of file localizer.cpp.

◆ getDistFromVergence()

double Localizer::getDistFromVergence ( const double  ver)

Definition at line 515 of file localizer.cpp.

◆ getIntrinsicsMatrix()

bool Localizer::getIntrinsicsMatrix ( const string &  type,
Matrix &  M,
int &  w,
int &  h 
)

Definition at line 650 of file localizer.cpp.

◆ getPidOptions()

void Localizer::getPidOptions ( Bottle &  options)

Definition at line 185 of file localizer.cpp.

◆ handleAnglesInput()

void Localizer::handleAnglesInput ( )
protected

Definition at line 611 of file localizer.cpp.

◆ handleAnglesOutput()

void Localizer::handleAnglesOutput ( )
protected

Definition at line 634 of file localizer.cpp.

◆ handleMonocularInput()

void Localizer::handleMonocularInput ( )
protected

Definition at line 523 of file localizer.cpp.

◆ handleStereoInput()

void Localizer::handleStereoInput ( )
protected

Definition at line 562 of file localizer.cpp.

◆ projectPoint() [1/3]

bool Localizer::projectPoint ( const string &  type,
const double  u,
const double  v,
const double  z,
Vector &  x 
)

Definition at line 353 of file localizer.cpp.

◆ projectPoint() [2/3]

bool Localizer::projectPoint ( const string &  type,
const double  u,
const double  v,
const Vector &  plane,
Vector &  x 
)

Definition at line 401 of file localizer.cpp.

◆ projectPoint() [3/3]

bool Localizer::projectPoint ( const string &  type,
const Vector &  x,
Vector &  px 
)

Definition at line 296 of file localizer.cpp.

◆ run()

void Localizer::run ( )

Definition at line 728 of file localizer.cpp.

◆ setIntrinsicsMatrix()

bool Localizer::setIntrinsicsMatrix ( const string &  type,
const Matrix &  M,
const int  w,
const int  h 
)

Definition at line 683 of file localizer.cpp.

◆ setPidOptions()

void Localizer::setPidOptions ( const Bottle &  options)

Definition at line 196 of file localizer.cpp.

◆ threadInit()

bool Localizer::threadInit ( )

Definition at line 148 of file localizer.cpp.

◆ threadRelease()

void Localizer::threadRelease ( )

Definition at line 160 of file localizer.cpp.

◆ triangulatePoint()

bool Localizer::triangulatePoint ( const Vector &  pxl,
const Vector &  pxr,
Vector &  x 
)

Definition at line 450 of file localizer.cpp.

Member Data Documentation

◆ commData

ExchangeData* Localizer::commData
protected

Definition at line 48 of file localizer.h.

◆ cxl

double Localizer::cxl
protected

Definition at line 65 of file localizer.h.

◆ cxr

double Localizer::cxr
protected

Definition at line 66 of file localizer.h.

◆ cyl

double Localizer::cyl
protected

Definition at line 65 of file localizer.h.

◆ cyr

double Localizer::cyr
protected

Definition at line 66 of file localizer.h.

◆ dominantEye

string Localizer::dominantEye
protected

Definition at line 69 of file localizer.h.

◆ eyeCAbsFrame

Matrix Localizer::eyeCAbsFrame
protected

Definition at line 57 of file localizer.h.

◆ eyesHalfBaseline

double Localizer::eyesHalfBaseline
protected

Definition at line 59 of file localizer.h.

◆ heightL

int Localizer::heightL
protected

Definition at line 63 of file localizer.h.

◆ heightR

int Localizer::heightR
protected

Definition at line 64 of file localizer.h.

◆ invEyeCAbsFrame

Matrix Localizer::invEyeCAbsFrame
protected

Definition at line 58 of file localizer.h.

◆ invPrjL

Matrix * Localizer::invPrjL
protected

Definition at line 61 of file localizer.h.

◆ invPrjR

Matrix * Localizer::invPrjR
protected

Definition at line 62 of file localizer.h.

◆ mtx

mutex Localizer::mtx
protected

Definition at line 47 of file localizer.h.

◆ period

unsigned int Localizer::period
protected

Definition at line 55 of file localizer.h.

◆ pid

parallelPID* Localizer::pid
protected

Definition at line 68 of file localizer.h.

◆ port_anglesIn

BufferedPort<Bottle> Localizer::port_anglesIn
protected

Definition at line 51 of file localizer.h.

◆ port_anglesOut

BufferedPort<Vector> Localizer::port_anglesOut
protected

Definition at line 52 of file localizer.h.

◆ port_mono

BufferedPort<Bottle> Localizer::port_mono
protected

Definition at line 49 of file localizer.h.

◆ port_stereo

BufferedPort<Bottle> Localizer::port_stereo
protected

Definition at line 50 of file localizer.h.

◆ PrjL

Matrix* Localizer::PrjL
protected

Definition at line 61 of file localizer.h.

◆ PrjR

Matrix* Localizer::PrjR
protected

Definition at line 62 of file localizer.h.

◆ txInfo_ang

Stamp Localizer::txInfo_ang
protected

Definition at line 53 of file localizer.h.

◆ widthL

int Localizer::widthL
protected

Definition at line 63 of file localizer.h.

◆ widthR

int Localizer::widthR
protected

Definition at line 64 of file localizer.h.

The documentation for this class was generated from the following files:
Generated on Fri Sep 26 2025 14:18:35 for iCub-main by doxygen 1.9.8