Inherits opentl::modalities::Modality.
Public Types | |
Public Member Functions | |
virtual modalities::Modality * | clone () const |
Clone this class and all potential childs RECURSIVELY!! (deep copy). | |
ContourPointsGPU (const ContourPointsGPU &c) | |
Deep Copy Constructor. | |
ContourPointsGPU (const std::vector< opentl::models::ObjModel * > &objModels, opentl::modelprojection::Warp *warp, opentl::modelprojection::GLScene *scene, int camIdx, modelprojection::VisibilityCheck *visCheck=NULL) | |
Constructor ATTENTION: The sensor vector element size/sequence must be identical for the warps of all object models !!! | |
opentl::core::cvdata::VisContourSamplePts * | getContourData (int s=0) |
virtual void | init () |
Allocate data structures required by this class. | |
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) |
Matching on feature level
| |
virtual int | preProcess (const opentl::core::cvdata::Image &image) |
Compute the edge map of I (e.g. with Canny), and store it into mImageFeatDetected SensorData input image has to be a GRAYSCALE image. | |
virtual int | sampleModelFeatures (const TargetPtrVector &targets) |
Do GPU-based visible edge sample point computation. | |
void | setMeasStd (double std) |
virtual | ~ContourPointsGPU () |
Destructor. | |
Public Attributes | |
opentl::core::cvdata::Image * | mImageDebugOutput |
Debug Image output. |
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.
sample_discardBackgroundEdgeWithinPixelRange | (unsigned int) range to discard background edge pixel |
sample_computeScreenPointJacobians | (bool) compute screen point jacobians |
preProcess_cannyThreshold1 | (double) canny threshold1 |
preProcess_cannyThreshold2 | (double) canny threshold2 |
matchF_edgeSearchlengthAlongNormalinPixel | (unsigned int) edge search length along the normal in pixel |
matchF_missingAssocRate | (double) |
matchF_useRansac | (bool) use RANSAC |
matchF_dotprodThreshold | (double) dot product threshold |
matchF_angleThreshold | (double) angle threshold |
matchF_enableDebugOutput | (bool) enable debug output |
matchFeatLevel_robustFlag | (bool) robust falg |
matchFeatLevel_useFixedCov | (bool) use fixed covariance |
matchFeatLevel_fixedCov | (double) ficed covariance |
matchF_nearestNeighbor | (bool) nearest neighbour |
ONLINE_COUNT |
Reimplemented from opentl::modalities::Modality.
opentl::modalities::ContourPointsGPU::ContourPointsGPU | ( | const std::vector< opentl::models::ObjModel * > & | objModels, | |
opentl::modelprojection::Warp * | warp, | |||
opentl::modelprojection::GLScene * | scene, | |||
int | camIdx, | |||
modelprojection::VisibilityCheck * | visCheck = NULL | |||
) |
Constructor ATTENTION: The sensor vector element size/sequence must be identical for the warps of all object models !!!
opentl::modalities::ContourPointsGPU::ContourPointsGPU | ( | const ContourPointsGPU & | c | ) |
Deep Copy Constructor.
virtual opentl::modalities::ContourPointsGPU::~ContourPointsGPU | ( | ) | [virtual] |
Destructor.
virtual modalities::Modality* opentl::modalities::ContourPointsGPU::clone | ( | ) | const [virtual] |
Clone this class and all potential childs RECURSIVELY!! (deep copy).
Implements opentl::modalities::Modality.
opentl::core::cvdata::VisContourSamplePts* opentl::modalities::ContourPointsGPU::getContourData | ( | int | s = 0 |
) | [inline] |
virtual void opentl::modalities::ContourPointsGPU::init | ( | ) | [virtual] |
virtual void opentl::modalities::ContourPointsGPU::invalidateFeatures | ( | ) | [virtual] |
Set the mUpToDate flag in the feature data to FALSE.
Reimplemented from opentl::modalities::Modality.
virtual int opentl::modalities::ContourPointsGPU::matchFeatLevel | ( | const TargetPtrVector & | targets, | |
T_MEAS_FEATPtrVector & | outputMeas, | |||
std::size_t | partitionIdx | |||
) | [virtual] |
Matching on feature level
targets | Vector of targets | |
outputMeas | Feature-space measurements and residuals (one per target and internal state) |
Reimplemented from opentl::modalities::Modality.
virtual int opentl::modalities::ContourPointsGPU::preProcess | ( | const opentl::core::cvdata::Image & | image | ) | [virtual] |
Compute the edge map of I (e.g. with Canny), and store it into mImageFeatDetected SensorData input image has to be a GRAYSCALE image.
virtual int opentl::modalities::ContourPointsGPU::sampleModelFeatures | ( | const TargetPtrVector & | targets | ) | [virtual] |
Do GPU-based visible edge sample point computation.
targets | Vector of targets |
Reimplemented from opentl::modalities::Modality.
void opentl::modalities::ContourPointsGPU::setMeasStd | ( | double | std | ) | [inline] |
Debug Image output.