WAICompassAlignment Class Reference

#include <WAICompassAlignment.h>

Classes
struct	Template

Public Member Functions
void	update (const cv::Mat &frameGray, cv::Mat &resultImage, const float hFov, double latitudeDEG, double longitudeDEG, double altitudeM, cv::Point &forwardPoint)
void	setTemplate (cv::Mat &templateImage, double latitudeDEG, double longitudeDEG, double altitudeM)
float	getRotAngleDEG ()

Private Attributes
Template	_template
float	_rotAngDEG = 0.0f

Detailed Description

Definition at line 6 of file WAICompassAlignment.h.

Member Function Documentation

getRotAngleDEG()

float WAICompassAlignment::getRotAngleDEG ( )

inline

Definition at line 27 of file WAICompassAlignment.h.

{ return _rotAngDEG; }

setTemplate()

void WAICompassAlignment::setTemplate	(	cv::Mat &	templateImage,
		double	latitudeDEG,
		double	longitudeDEG,
		double	altitudeM
	)

Definition at line 7 of file WAICompassAlignment.cpp.

{
    _template.image        = templateImage.clone();
    _template.latitudeDEG  = latitudeDEG;
    _template.longitudeDEG = longitudeDEG;
    _template.altitudeM    = altitudeM;
}

update()

void WAICompassAlignment::update	(	const cv::Mat &	frameGray,
		cv::Mat &	resultImage,
		const float	hFov,
		double	latitudeDEG,
		double	longitudeDEG,
		double	altitudeM,
		cv::Point &	forwardPoint
	)

Definition at line 15 of file WAICompassAlignment.cpp.

{
    PROFILE_FUNCTION();
 
    // TODO(dgj1): handle error if no template has been set
 
    cv::matchTemplate(frameGray, _template.image, resultImage, cv::TM_CCOEFF_NORMED);
 
    double    minVal, maxVal;
    cv::Point minLoc, maxLoc;
    cv::minMaxLoc(resultImage, &minVal, &maxVal, &minLoc, &maxLoc);
 
    std::cout << "maxLoc: " << maxLoc << std::endl;
 
    cv::Point imCenter       = cv::Point((int)(frameGray.cols * 0.5f),
                                   (int)(frameGray.rows * 0.5f));
    cv::Point tplCenter      = cv::Point((int)(_template.image.cols * 0.5f),
                                    (int)(_template.image.rows * 0.5f));
    cv::Point tplMatchCenter = maxLoc + tplCenter;
 
    cv::Point offset = tplMatchCenter - imCenter;
 
    float degPerPixelH = hFov / frameGray.cols;
 
    // Angle between camera forward and template match center
    // If GPS is absolutely precise, the difference between this angle and
    // the angle between GPS forward and template match center should be 0
    float angleCenterTemplateDegH = offset.x * degPerPixelH;
 
    // TODO(dgj1): actually calculate this
    cv::Point vecCurTpl = cv::Point((int)(_template.latitudeDEG - latitudeDEG),
                                    (int)(_template.longitudeDEG - longitudeDEG));
    vecCurTpl /= cv::norm(vecCurTpl);
    vecCurForward /= cv::norm(vecCurForward);
    float angleGPSTemplateDegH = (float)vecCurTpl.dot(vecCurForward);
 
    _rotAngDEG = angleGPSTemplateDegH - angleCenterTemplateDegH;
}

Member Data Documentation

_rotAngDEG

float WAICompassAlignment::_rotAngDEG = 0.0f

private

Definition at line 32 of file WAICompassAlignment.h.

_template

Template WAICompassAlignment::_template

private

Definition at line 31 of file WAICompassAlignment.h.

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

• WAICompassAlignment.h
• WAICompassAlignment.cpp