opentl::modalities::HarrisKeypoints::HarrisKeypoints::HarrisKeyframe Class Reference

A key-frame contains:

• an image, and its filtered version (for NCC matching)
• the annotated pose of the visible target (NOTE: only one target per keyframe!)
• the detected (and back-projected) Harris keypoints.

More...

List of all members.

Public Member Functions
HarrisKeyframe *	clone () const
	HarrisKeyframe (const HarrisKeyframe &c)
	Copy constructor of Harris keyframe.
	HarrisKeyframe (const boost::shared_ptr< opentl::models::Target > &target, opentl::modelprojection::WarpBack *warpBack, modalities::HarrisKeypoints *parentHarrisModality, opentl::core::cvdata::Image *img=NULL)
	Constructor of Harris keyframe, from a set of targets.
void	initKeyFrame ()
	Initialize data for this keyframe: Detect Harris keypoints for the target from a single camera view (considering also mutual occlusions) Back-project them to object space using the depth map.
	~HarrisKeyframe ()
	Destructor.
Public Attributes
int	mCamIdx
	Camera ID of this keyframe.
opentl::core::cvdata::Image *	mFilt
	Filtered version (for NCC matching).
opentl::core::cvdata::Image *	mImg
	Keyframe original image.
opentl::core::cvdata::HarrisKeypoints *	mKeypoints
	Keypoints detected on it.
opentl::core::cvdata::Image *	mMaskG
	Keyframe shadow mask.
modalities::HarrisKeypoints *	mParentHarrisModality
	Pointer to the parent modality that created it.
boost::shared_ptr < opentl::models::Target >	mTarget
	Keyframe-associated target.
opentl::modelprojection::WarpBack *	mWarpBack
	Warp pointer.

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Detailed Description

A key-frame contains:

• an image, and its filtered version (for NCC matching)
• the annotated pose of the visible target (NOTE: only one target per keyframe!)
• the detected (and back-projected) Harris keypoints.

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Constructor & Destructor Documentation

opentl::modalities::HarrisKeypoints::HarrisKeypoints::HarrisKeyframe::HarrisKeyframe	(	const boost::shared_ptr< opentl::models::Target > &	target,
		opentl::modelprojection::WarpBack *	warpBack,
		modalities::HarrisKeypoints *	parentHarrisModality,
		opentl::core::cvdata::Image *	img = NULL
	)

Constructor of Harris keyframe, from a set of targets.

opentl::modalities::HarrisKeypoints::HarrisKeypoints::HarrisKeyframe::HarrisKeyframe

(

const HarrisKeyframe &

c

)

Copy constructor of Harris keyframe.

opentl::modalities::HarrisKeypoints::HarrisKeypoints::HarrisKeyframe::~HarrisKeyframe

(

)

Destructor.

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Member Function Documentation

HarrisKeyframe* opentl::modalities::HarrisKeypoints::HarrisKeypoints::HarrisKeyframe::clone

(

)

const [inline]

void opentl::modalities::HarrisKeypoints::HarrisKeypoints::HarrisKeyframe::initKeyFrame

(

)

Initialize data for this keyframe:

• Detect Harris keypoints for the target from a single camera view (considering also mutual occlusions)
• Back-project them to object space using the depth map.

Parameters:

target

Target

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Member Data Documentation

int opentl::modalities::HarrisKeypoints::HarrisKeypoints::HarrisKeyframe::mCamIdx

Camera ID of this keyframe.

opentl::core::cvdata::Image* opentl::modalities::HarrisKeypoints::HarrisKeypoints::HarrisKeyframe::mFilt

Filtered version (for NCC matching).

opentl::core::cvdata::Image* opentl::modalities::HarrisKeypoints::HarrisKeypoints::HarrisKeyframe::mImg

Keyframe original image.

opentl::core::cvdata::HarrisKeypoints* opentl::modalities::HarrisKeypoints::HarrisKeypoints::HarrisKeyframe::mKeypoints

Keypoints detected on it.

opentl::core::cvdata::Image* opentl::modalities::HarrisKeypoints::HarrisKeypoints::HarrisKeyframe::mMaskG

Keyframe shadow mask.

modalities::HarrisKeypoints* opentl::modalities::HarrisKeypoints::HarrisKeypoints::HarrisKeyframe::mParentHarrisModality

Pointer to the parent modality that created it.

boost::shared_ptr<opentl::models::Target> opentl::modalities::HarrisKeypoints::HarrisKeypoints::HarrisKeyframe::mTarget

Keyframe-associated target.

opentl::modelprojection::WarpBack* opentl::modalities::HarrisKeypoints::HarrisKeypoints::HarrisKeyframe::mWarpBack

Warp pointer.