Inherits opentl::modalities::Modality.
Public Types | |
Public Member Functions | |
virtual modalities::Modality * | clone () const |
Deep cloning. | |
DataFusion (const DataFusion &c) | |
Copy Constructor. | |
DataFusion (opentl::modelprojection::Warp *warp, int camIdx, opentl::modelprojection::GLRenderer *GLRender=NULL) | |
Copy Constructor. | |
const opentl::core::cvdata::Image & | getFusionImage () |
virtual void | init () |
Initialize class (clean parameter status). | |
virtual int | matchFeatLevel (const TargetPtrVector &targets, T_MEAS_FEATPtrVector &outputMeas, std::size_t partitionIdx) |
Matching on feature level
| |
virtual int | matchObjLevel (const TargetPtrVector &targets, T_MEAS_OBJPtrVector &outputMeas, std::size_t partitionIdx) |
Matching on object level
| |
virtual int | matchPixLevel (const TargetPtrVector &targets, T_MEAS_PIXPtrVector &outputMeas, std::size_t partitionIdx) |
Here "MATCH" = "FUSION"! | |
virtual int | sampleModelFeatures (const TargetPtrVector &targets) |
Sample model features for all children. | |
virtual int | updateModelFeatures (const TargetPtrVector &targets) |
Update online features for all children. | |
virtual | ~DataFusion () |
Destructor. | |
Protected Attributes | |
int | mCurrentPartitionIdx |
Current partition index for multi-threading. | |
TargetPtrVector | mTmpTarget |
Temporary state NOTE: this is needed by the static function "staticSimilarityEval" (for the simplex optimizer). |
fusionAlgo | Data fusion modality (scheme for static fusion, input/output levels for z). |
fusionAlgoPixelLevel_Weights | Weight vector<double> for pixel-level, weighted average fusion. |
fusionAlgoPixelLevel_matchPixUsingResidualImage | (bool) Compute residual image or just scalar residual |
fusionAlgoPixelLevel_matchPixelRInvVariance | (double) Inverse variance of the pixel-level residual |
fusionAlgoObjectUpgrade_Epsilon | Exit condition: minimum error for one delta step. |
fusionAlgoObjectUpgrade_CovRVector | vector containing the covariance output values TODO: use math::Vector |
fusionAlgoObjectUpgrade_UseFullCovarianceMatrix | Flag whether to use the full Covariance Matrix as output or only the diagonal (default). |
fusionAlgoObjectUpgrade_EnableMultiThreadingPerChildFeature | create a thread per feature matchxxxLevel() function call |
fusionAlgoObjectUpgrade_usePrior | Whether to use the prediction (prior) Gaussian to regularize Gauss-Newton optimization. |
fusionAlgoObjectUpgrade_GaussNewton_enableDampingFactor | flag to enable damping factor in case of a singular matrix |
fusionAlgoObjectUpgrade_GaussNewton_dampingFactorDeterminantMinThreshold | Whether to use the invert covariance in the Gauss-Newton algorithm NOTE: it makes sense only if the measurements have a variable covariance. |
fusionAlgoObjectUpgrade_GaussNewton_dampingFactorMax | maximum damping factor |
fusionAlgoObjectUpgrade_GaussNewton_MEstimator | M Estimator to use. |
fusionAlgoObjectUpgrade_GaussNewton_MEstimatorThresh | M Estimator threshold. |
ONLINE_COUNT |
Reimplemented from opentl::modalities::Modality.
opentl::modalities::DataFusion::DataFusion | ( | opentl::modelprojection::Warp * | warp, | |
int | camIdx, | |||
opentl::modelprojection::GLRenderer * | GLRender = NULL | |||
) |
Copy Constructor.
opentl::modalities::DataFusion::DataFusion | ( | const DataFusion & | c | ) |
Copy Constructor.
virtual opentl::modalities::DataFusion::~DataFusion | ( | ) | [virtual] |
Destructor.
virtual modalities::Modality* opentl::modalities::DataFusion::clone | ( | ) | const [virtual] |
const opentl::core::cvdata::Image& opentl::modalities::DataFusion::getFusionImage | ( | ) |
virtual void opentl::modalities::DataFusion::init | ( | ) | [virtual] |
virtual int opentl::modalities::DataFusion::matchFeatLevel | ( | const TargetPtrVector & | targets, | |
T_MEAS_FEATPtrVector & | outputMeas, | |||
std::size_t | partitionIdx | |||
) | [virtual] |
Matching on feature level
states | Predicted state | |
outputMeas | Feature-space measurements and residuals |
Reimplemented from opentl::modalities::Modality.
virtual int opentl::modalities::DataFusion::matchObjLevel | ( | const TargetPtrVector & | targets, | |
T_MEAS_OBJPtrVector & | outputMeas, | |||
std::size_t | partitionIdx | |||
) | [virtual] |
Matching on object level
states | Predicted state | |
outputMeas | State-space measurement and residuals (expected state = prediction, observed state = ML estimate) |
Reimplemented from opentl::modalities::Modality.
virtual int opentl::modalities::DataFusion::matchPixLevel | ( | const TargetPtrVector & | targets, | |
T_MEAS_PIXPtrVector & | outputMeas, | |||
std::size_t | partitionIdx | |||
) | [virtual] |
virtual int opentl::modalities::DataFusion::sampleModelFeatures | ( | const TargetPtrVector & | targets | ) | [virtual] |
virtual int opentl::modalities::DataFusion::updateModelFeatures | ( | const TargetPtrVector & | targets | ) | [virtual] |
int opentl::modalities::DataFusion::mCurrentPartitionIdx [protected] |
Current partition index for multi-threading.
Temporary state NOTE: this is needed by the static function "staticSimilarityEval" (for the simplex optimizer).