opentl::modalities::ContourCCD Class Reference

Inherits opentl::modalities::Modality.

List of all members.

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 ObjModelPtrVector &objModels, opentl::modelprojection::Warp *warp, opentl::modelprojection::GLScene *scene, int camIdx, modelprojection::ContourSampler *contourSampler=NULL)
void	drawSamplePoints (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 contour sampler.
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, const std::vector< std::vector< int > > &preProcessROIs)
	Do nothing (in CCD there is no pre-processing, and D=I).
virtual int	sampleModelFeatures (const TargetPtrVector &targets)
	Call the GPU-based visible edge sampler.
virtual	~ContourCCD ()
	Destructor.

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Member Enumeration Documentation

enum opentl::modalities::ContourCCD::OfflineParameters

Enumerator:

generate_contourSampler	(bool) If true, create the contour sampler algorithm internally; else, use a pre-defined one (contourSampler)
contour_maxSamplePointsPerTarget	(int) Subsampling for the GPU contour sampling code
CCD_DOF	(int) Number of degrees of freedom
CCD_KMIN	(int) Minimum number of contour sample positions
CCD_KMAX	(int) Maximum number of contour sample positions
CCD_L	(int) Number of samples along the normal
OFFLINE_COUNT

Reimplemented from opentl::modalities::Modality.

enum opentl::modalities::ContourCCD::OnlineParameters

Enumerator:

space_blur	(double) Space blur: this is the extent of mixing for local color statistics along contour positions in space (exponential filtering)
max_dist	(std::vector(double)) Search distance (h) at iteration 0, for each link
dist_upd	(std::vector(double)) Update coefficient of distance (h) from step to step (exponential decay), for each link
ONLINE_COUNT

Reimplemented from opentl::modalities::Modality.

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Constructor & Destructor Documentation

opentl::modalities::ContourCCD::ContourCCD	(	const ObjModelPtrVector &	objModels,
		opentl::modelprojection::Warp *	warp,
		opentl::modelprojection::GLScene *	scene,
		int	camIdx,
		modelprojection::ContourSampler *	contourSampler = NULL
	)

opentl::modalities::ContourCCD::ContourCCD

(

const ContourCCD &

c

)

Deep Copy Constructor.

virtual opentl::modalities::ContourCCD::~ContourCCD

(

)

[virtual]

Destructor.

---

Member Function Documentation

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::drawSamplePoints	(	opentl::core::cvdata::Image &	img,
		CvScalar	color,
		int	targetIdx
	)

int opentl::modalities::ContourCCD::getCamIdx

(

)

[inline]

returns the camera index of this class instance

Reimplemented from opentl::modalities::Modality.

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 contour sampler.

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,
		const std::vector< std::vector< int > > &	preProcessROIs
	)			[virtual]

Do nothing (in CCD there is no pre-processing, and D=I).

Parameters:

	image	Input sensor data (e.g. camera image in RGB)
	preProcessROIs	Regions of interest (x0,y0,width,height), per target

Reimplemented from opentl::modalities::Modality.

virtual int opentl::modalities::ContourCCD::sampleModelFeatures

(

const TargetPtrVector &

targets

)

[virtual]

Call the GPU-based visible edge sampler.

Reimplemented from opentl::modalities::Modality.