Inherits opentl::modalities::Modality.
Public Types | |
Public Member Functions | |
virtual HistoOrientedGrad * | clone () const |
clone the current HistoOrientedGrad class instance | |
virtual int | copyMTrack2MDetect (const TargetPtrVector &targets) |
copy corresponding Mtrack features of a state to Mdetect | |
HistoOrientedGrad (const HistoOrientedGrad &c) | |
Copy Constructor. | |
HistoOrientedGrad (opentl::modelprojection::Warp *warp, int camIdx) | |
Constructor. | |
virtual void | init () |
Needed init() method for parameter handling. | |
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 | preProcess (const opentl::core::cvdata::Image &image, const std::vector< std::vector< int > > &preProcessROIs) |
Compute integral HOG of the current image. | |
virtual int | sampleModelFeatures (const TargetPtrVector &targets) |
Sample the HOG from the shape and appearance model. | |
virtual int | updateModelFeatures (const TargetPtrVector &targets) |
Update online reference HOG from the estimated state and the current image. | |
virtual | ~HistoOrientedGrad () |
Destructor. | |
Protected Member Functions | |
virtual void | computeModelFeatureFromImageGradients (std::vector< double > &MDestination, const IplImage *imgGradx, const IplImage *imgGrady, int offsetx, int offsety, int width, int height) |
computes the model features using gradient images for input | |
virtual void | computeModelFeatureFromIntegralHistogram (boost::shared_ptr< opentl::core::State > state, const boost::shared_ptr< opentl::models::ObjModel > &objModel, std::vector< double > &MDestination) |
computes the model features using a precomputed integral histogram for input |
Pixel-level match: (not available) Feature-level match: Bhattacharyya distance between HOGs Object-level match: Brute-force search in discrete state space (N-box)
Author: Giorgio Panin (panin@in.tum.de)
Reimplemented from opentl::modalities::Modality.
opentl::modalities::HistoOrientedGrad::HistoOrientedGrad | ( | opentl::modelprojection::Warp * | warp, | |
int | camIdx | |||
) |
Constructor.
warp | pointer to the warp | |
camIdx | camera index for this modality |
opentl::modalities::HistoOrientedGrad::HistoOrientedGrad | ( | const HistoOrientedGrad & | c | ) |
virtual opentl::modalities::HistoOrientedGrad::~HistoOrientedGrad | ( | ) | [virtual] |
Destructor.
virtual HistoOrientedGrad* opentl::modalities::HistoOrientedGrad::clone | ( | ) | const [inline, virtual] |
clone the current HistoOrientedGrad class instance
Implements opentl::modalities::Modality.
virtual void opentl::modalities::HistoOrientedGrad::computeModelFeatureFromImageGradients | ( | std::vector< double > & | MDestination, | |
const IplImage * | imgGradx, | |||
const IplImage * | imgGrady, | |||
int | offsetx, | |||
int | offsety, | |||
int | width, | |||
int | height | |||
) | [protected, virtual] |
computes the model features using gradient images for input
MDestination | Destination model feature storage container | |
imgGradx | Gradient image in x direction | |
imgGrady | Gradient image in y direction | |
offsetx | position (x) of the lower left corner of the rectangle to sample from | |
offsety | position (y) of the lower left corner of the rectangle to sample from | |
width | width of the rectangle to sample from | |
height | height of the rectangle to sample from |
virtual void opentl::modalities::HistoOrientedGrad::computeModelFeatureFromIntegralHistogram | ( | boost::shared_ptr< opentl::core::State > | state, | |
const boost::shared_ptr< opentl::models::ObjModel > & | objModel, | |||
std::vector< double > & | MDestination | |||
) | [protected, virtual] |
computes the model features using a precomputed integral histogram for input
state | vector of states to consider for sampling | |
MDestination | Destination model feature storage container |
virtual int opentl::modalities::HistoOrientedGrad::copyMTrack2MDetect | ( | const TargetPtrVector & | targets | ) | [virtual] |
copy corresponding Mtrack features of a state to Mdetect
states | states vector that should be considered for copying the corresponding features |
virtual void opentl::modalities::HistoOrientedGrad::init | ( | ) | [virtual] |
virtual int opentl::modalities::HistoOrientedGrad::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::HistoOrientedGrad::matchObjLevel | ( | const TargetPtrVector & | targets, | |
T_MEAS_OBJPtrVector & | outputMeas, | |||
std::size_t | partitionIdx | |||
) | [inline, 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::HistoOrientedGrad::preProcess | ( | const opentl::core::cvdata::Image & | image, | |
const std::vector< std::vector< int > > & | preProcessROIs | |||
) | [virtual] |
Compute integral HOG of the current image.
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::HistoOrientedGrad::sampleModelFeatures | ( | const TargetPtrVector & | targets | ) | [virtual] |
Sample the HOG from the shape and appearance model.
states | states vector that should be samples from |
Reimplemented from opentl::modalities::Modality.
virtual int opentl::modalities::HistoOrientedGrad::updateModelFeatures | ( | const TargetPtrVector & | targets | ) | [virtual] |
Update online reference HOG from the estimated state and the current image.
states | states vector that should be samples from |
Reimplemented from opentl::modalities::Modality.