Class obsBlobs

Class Documentation

class obsBlobs

Public Functions

inline double getDiagonalSize()

This function calculates the diagonal of the bounding box.

Returns

The diagonal length of the the bounding box.

inline double getAspectRatio()

This function calculates the aspect ratio of the bounding box.

Returns

The aspect ratio of the bounding box.

Public Members

int noOfPixels

Contain the number pixels the obstacle contain.

int max_disparity

Maximum disparity value of the obstacle.

std::vector<cv::Point2i> obsPoints

Vector containing all the 2D image points of the obstacle.

double depth

Depth in meters to the nearest point of the obstacle with respect to the left camera center.

double startY

Y direction 3D world distance in meters to the top side of the obstacle with respect to the left camera center.

double endY

Y direction 3D world distance in meters to the bottom side of the obstacle with respect to the left camera center.

double startX

X direction 3D world distance in meters to the left side of the obstacle with respect to the left camera center.

double endX

Y direction 3D world distance in meters to the right side of the obstacle with respect to the left camera center.

cv::Rect currentBoundingRect

2D bounding box of the obstacle.