Inherits opentl::modalities::Modality.
Public Types | |
Public Member Functions | |
int | buildTemplateMap (const TargetPtrVector &targets) |
Collect offline template by sampling pixels from the opengl texture image, and back-warping points onto the 3D mesh. | |
virtual modalities::Modality * | clone () const |
Clone (it calls the Deep Copy Constructor). | |
opentl::core::cvdata::TemplateMap * | getTmapData (int targetId) |
Return the template model of a given target. | |
void | init () |
Memory allocation and initialization (common to both constructors). | |
int | LossDetect (const TargetPtrVector &targets) |
Detect target loss, by computing the NCC over the full template. | |
virtual int | matchFeatLevel (const TargetPtrVector &targets, T_MEAS_FEATPtrVector &outputMeas, std::size_t partitionIdx) |
matchFeatLevel. Match template gray level values with underlying image values (multi-resolution) The overall similarity function can be: Sum of Squared Differences (SSD), Normalized Cross-Correlation (NCC), Mutual Information (MI). | |
virtual int | matchObjLevel (const TargetPtrVector &targets, T_MEAS_OBJPtrVector &outputMeas, std::size_t partitionIdx) |
matchObjLevel. Find local maximum of feature-level likelihood (i.e. the template similarity function) | |
virtual int | preProcess (const opentl::core::cvdata::Image &image) |
Get the multi-resolution image pyramid. | |
void | resetOnlineTemplate (const TargetPtrVector &targets) |
Reset the on-line template to the off-line values. | |
virtual int | sampleModelFeatures (const TargetPtrVector &targets) |
Compute visible points from the template map at pose p (occlusion query). | |
TemplateMap (const TemplateMap &tmap) | |
Deep Copy Constructor. | |
TemplateMap (opentl::modelprojection::Warp *warp, int camIdx) | |
Constructor. | |
int | updateAllTemplate (const TargetPtrVector &targets) |
Update the complete template gray values (on-line and off-line) from the pre-processed image pyramid. | |
virtual int | updateModelFeatures (const TargetPtrVector &targets) |
Update the on-line observed gray values (= feature) from the multi-resolution image pyramid. | |
void | updateOnlineTemplate (const TargetPtrVector &targets, std::vector< boost::shared_ptr< opentl::core::cvdata::Image > > &imageData) |
Update the on-line template gray values from 4 resolution images. | |
int | warpTemplate (const TargetPtrVector &targets) |
Warp all visible template points. | |
virtual | ~TemplateMap () |
Destructor. | |
Protected Attributes | |
T_MEAS_FEATPtrVector | mFeatLevelMeas |
Internal storage for feature level measurements NOTE: this is needed by the static function "staticSimilarityEval" (for the simplex optimizer). | |
TargetPtrVector | mTmpTarget |
Temporary state NOTE: this is needed by the static function "staticSimilarityEval" (for the simplex optimizer). |
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::TemplateMap::TemplateMap | ( | opentl::modelprojection::Warp * | warp, | |
int | camIdx | |||
) |
Constructor.
opentl::modalities::TemplateMap::TemplateMap | ( | const TemplateMap & | tmap | ) |
Deep Copy Constructor.
virtual opentl::modalities::TemplateMap::~TemplateMap | ( | ) | [virtual] |
Destructor.
int opentl::modalities::TemplateMap::buildTemplateMap | ( | const TargetPtrVector & | targets | ) |
Collect offline template by sampling pixels from the opengl texture image, and back-warping points onto the 3D mesh.
targets | Input target vector |
virtual modalities::Modality* opentl::modalities::TemplateMap::clone | ( | ) | const [virtual] |
opentl::core::cvdata::TemplateMap* opentl::modalities::TemplateMap::getTmapData | ( | int | targetId | ) | [inline] |
Return the template model of a given target.
targetId | Unique target ID number |
void opentl::modalities::TemplateMap::init | ( | ) | [virtual] |
Memory allocation and initialization (common to both constructors).
Reimplemented from opentl::modalities::Modality.
int opentl::modalities::TemplateMap::LossDetect | ( | const TargetPtrVector & | targets | ) |
Detect target loss, by computing the NCC over the full template.
targets | Input target vector |
virtual int opentl::modalities::TemplateMap::matchFeatLevel | ( | const TargetPtrVector & | targets, | |
T_MEAS_FEATPtrVector & | outputMeas, | |||
std::size_t | partitionIdx | |||
) | [virtual] |
matchFeatLevel. Match template gray level values with underlying image values (multi-resolution) The overall similarity function can be: Sum of Squared Differences (SSD), Normalized Cross-Correlation (NCC), Mutual Information (MI).
targets | Input vector of targets | |
outputMeas | Output feature-level measurements (gray-level pairs, Jacobians and UNIQUE residual = overall template similarity) NOTE: The second index of outputMeas (state inside the target) is not used, and always set to 0. |
Reimplemented from opentl::modalities::Modality.
virtual int opentl::modalities::TemplateMap::matchObjLevel | ( | const TargetPtrVector & | targets, | |
T_MEAS_OBJPtrVector & | outputMeas, | |||
std::size_t | partitionIdx | |||
) | [virtual] |
matchObjLevel. Find local maximum of feature-level likelihood (i.e. the template similarity function)
targets | Input vector of targets | |
outputMeas | Output object-level measurements (predicted and estimated pose, and residual = incremental pose) NOTE: The second index of outputMeas (state inside the target) is not used, and always set to 0. |
Reimplemented from opentl::modalities::Modality.
virtual int opentl::modalities::TemplateMap::preProcess | ( | const opentl::core::cvdata::Image & | image | ) | [virtual] |
Get the multi-resolution image pyramid.
sensData | Input sensor data |
void opentl::modalities::TemplateMap::resetOnlineTemplate | ( | const TargetPtrVector & | targets | ) |
Reset the on-line template to the off-line values.
targets | Input target vector |
virtual int opentl::modalities::TemplateMap::sampleModelFeatures | ( | const TargetPtrVector & | targets | ) | [virtual] |
Compute visible points from the template map at pose p (occlusion query).
targets | Input target vector |
Reimplemented from opentl::modalities::Modality.
int opentl::modalities::TemplateMap::updateAllTemplate | ( | const TargetPtrVector & | targets | ) |
Update the complete template gray values (on-line and off-line) from the pre-processed image pyramid.
targets | Input target vector |
virtual int opentl::modalities::TemplateMap::updateModelFeatures | ( | const TargetPtrVector & | targets | ) | [virtual] |
Update the on-line observed gray values (= feature) from the multi-resolution image pyramid.
targets | Input target vector |
Reimplemented from opentl::modalities::Modality.
void opentl::modalities::TemplateMap::updateOnlineTemplate | ( | const TargetPtrVector & | targets, | |
std::vector< boost::shared_ptr< opentl::core::cvdata::Image > > & | imageData | |||
) |
Update the on-line template gray values from 4 resolution images.
targets | Input target vector | |
imageData | Input multi-resolution images from which to sample visible points |
int opentl::modalities::TemplateMap::warpTemplate | ( | const TargetPtrVector & | targets | ) |
Warp all visible template points.
targets | Input target vector |
Internal storage for feature level measurements NOTE: this is needed by the static function "staticSimilarityEval" (for the simplex optimizer).
Temporary state NOTE: this is needed by the static function "staticSimilarityEval" (for the simplex optimizer).