opentl::modalities::DataFusion Class Reference

Static data fusion class. It inherits from the modalities:Modality interface, so it can be flexibly combined with the features. ASSUMPTIONS: More...

Inherits opentl::modalities::Modality.

List of all members.

Public Types


Public Member Functions

virtual modalities::Modalityclone () 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::ImagegetFusionImage ()
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
  • match projected model features with detected image features.

virtual int matchObjLevel (const TargetPtrVector &targets, T_MEAS_OBJPtrVector &outputMeas, std::size_t partitionIdx)
 Matching on object level
  • compute a local, maximum-likelihood estimate of pose (evtl. state), using either pixel- or feature-level likelihood functions.

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).


Detailed Description

Static data fusion class. It inherits from the modalities:Modality interface, so it can be flexibly combined with the features. ASSUMPTIONS:


Member Enumeration Documentation

Enumerator:
OFFLINE_COUNT 

Reimplemented from opentl::modalities::Modality.

Enumerator:
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.

Possible static fusion schemes.

Enumerator:
PIXEL_WA 
PIXEL_PRODUCT 
PIXEL_VOTING 
PIXEL_FUZZY 
OBJECT_UPGRADE_GAUSS_NEWTON 

Possible voting schemes for pixel-level.

Enumerator:
UNANIMITY 
BYZANTINE 
MAJORITY 
MOUTN 


Constructor & Destructor Documentation

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.


Member Function Documentation

virtual modalities::Modality* opentl::modalities::DataFusion::clone (  )  const [virtual]

Deep cloning.

Implements opentl::modalities::Modality.

const opentl::core::cvdata::Image& opentl::modalities::DataFusion::getFusionImage (  ) 

virtual void opentl::modalities::DataFusion::init (  )  [virtual]

Initialize class (clean parameter status).

Reimplemented from opentl::modalities::Modality.

virtual int opentl::modalities::DataFusion::matchFeatLevel ( const TargetPtrVector targets,
T_MEAS_FEATPtrVector outputMeas,
std::size_t  partitionIdx 
) [virtual]

Matching on feature level

  • match projected model features with detected image features.

Parameters:
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

  • compute a local, maximum-likelihood estimate of pose (evtl. state), using either pixel- or feature-level likelihood functions.

Parameters:
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]

Here "MATCH" = "FUSION"!

Reimplemented from opentl::modalities::Modality.

virtual int opentl::modalities::DataFusion::sampleModelFeatures ( const TargetPtrVector targets  )  [virtual]

Sample model features for all children.

Reimplemented from opentl::modalities::Modality.

virtual int opentl::modalities::DataFusion::updateModelFeatures ( const TargetPtrVector targets  )  [virtual]

Update online features for all children.

Reimplemented from opentl::modalities::Modality.


Member Data Documentation

Current partition index for multi-threading.

Temporary state NOTE: this is needed by the static function "staticSimilarityEval" (for the simplex optimizer).


Generated on Thu Jun 10 21:08:10 2010 for OpenTL by  doxygen 1.5.8