Public Types | |
Public Member Functions | |
virtual modalities::Modality * | clone () const |
Clone this class and all potential childs RECURSIVELY!! (deep copy). | |
ContourCCD (const ContourCCD &c) | |
Deep Copy Constructor. | |
ContourCCD (const std::vector< opentl::models::ObjModel * > &objModels, opentl::modelprojection::Warp *warp, opentl::modelprojection::GLScene *scene, int camIdx, modelprojection::VisibilityCheck *visCheck=NULL) | |
void | DrawContour (opentl::core::cvdata::Image *img, CvScalar color, int targetIdx) |
int | getCamIdx () |
returns the camera index of this class instance | |
opentl::core::cvdata::VisContourSamplePts * | getContourData (int s=0) |
virtual void | init () |
Initialize CCD: create (if necessary) the visibility sampler. | |
virtual void | invalidateFeatures () |
Set the mUpToDate flag in the feature data to FALSE. | |
virtual int | matchFeatLevel (const TargetPtrVector &targets, T_MEAS_FEATPtrVector &outputMeas, std::size_t partitionIdx) |
Feature-level matching for the CCD modality. It basically computes local color statistics (=features) along the visible edges on both sides. The output measurement are the color residuals, and their Jacobian w.r.t. pose parameters. | |
virtual int | matchObjLevel (const TargetPtrVector &targets, T_MEAS_OBJPtrVector &outputMeas, std::size_t partitionIdx) |
(Object-level is not available in CCD, in order to avoid code duplication -> use DataFusion upgrade instead). | |
virtual int | preProcess (const opentl::core::cvdata::Image &image) |
Do nothing (in CCD there is no pre-processing, and D=I) SensorData input image has to be an RGB image. | |
virtual int | sampleModelFeatures (const TargetPtrVector &targets) |
Call the GPU-based visible edge sampler. | |
virtual | ~ContourCCD () |
Destructor. |
Common flags to all modalities: they specify which field will be filled in the output measurement, inside the matchXLevel() function. Default values = all true.
Reimplemented from opentl::modalities::Modality.
Reimplemented from opentl::modalities::Modality.
opentl::modalities::ContourCCD::ContourCCD | ( | const std::vector< opentl::models::ObjModel * > & | objModels, | |
opentl::modelprojection::Warp * | warp, | |||
opentl::modelprojection::GLScene * | scene, | |||
int | camIdx, | |||
modelprojection::VisibilityCheck * | visCheck = NULL | |||
) |
opentl::modalities::ContourCCD::ContourCCD | ( | const ContourCCD & | c | ) |
Deep Copy Constructor.
virtual opentl::modalities::ContourCCD::~ContourCCD | ( | ) | [virtual] |
Destructor.
virtual modalities::Modality* opentl::modalities::ContourCCD::clone | ( | ) | const [virtual] |
Clone this class and all potential childs RECURSIVELY!! (deep copy).
Implements opentl::modalities::Modality.
void opentl::modalities::ContourCCD::DrawContour | ( | opentl::core::cvdata::Image * | img, | |
CvScalar | color, | |||
int | targetIdx | |||
) |
int opentl::modalities::ContourCCD::getCamIdx | ( | ) | [inline] |
opentl::core::cvdata::VisContourSamplePts* opentl::modalities::ContourCCD::getContourData | ( | int | s = 0 |
) | [inline] |
virtual void opentl::modalities::ContourCCD::init | ( | ) | [virtual] |
Initialize CCD: create (if necessary) the visibility sampler.
Reimplemented from opentl::modalities::Modality.
virtual void opentl::modalities::ContourCCD::invalidateFeatures | ( | ) | [virtual] |
Set the mUpToDate flag in the feature data to FALSE.
Reimplemented from opentl::modalities::Modality.
virtual int opentl::modalities::ContourCCD::matchFeatLevel | ( | const TargetPtrVector & | targets, | |
T_MEAS_FEATPtrVector & | outputMeas, | |||
std::size_t | partitionIdx | |||
) | [virtual] |
Feature-level matching for the CCD modality. It basically computes local color statistics (=features) along the visible edges on both sides. The output measurement are the color residuals, and their Jacobian w.r.t. pose parameters.
Reimplemented from opentl::modalities::Modality.
virtual int opentl::modalities::ContourCCD::matchObjLevel | ( | const TargetPtrVector & | targets, | |
T_MEAS_OBJPtrVector & | outputMeas, | |||
std::size_t | partitionIdx | |||
) | [inline, virtual] |
(Object-level is not available in CCD, in order to avoid code duplication -> use DataFusion upgrade instead).
Reimplemented from opentl::modalities::Modality.
virtual int opentl::modalities::ContourCCD::preProcess | ( | const opentl::core::cvdata::Image & | image | ) | [virtual] |
Do nothing (in CCD there is no pre-processing, and D=I) SensorData input image has to be an RGB image.
virtual int opentl::modalities::ContourCCD::sampleModelFeatures | ( | const TargetPtrVector & | targets | ) | [virtual] |