opentl::modalities::OpticalFlow Class Reference

Inherits opentl::modalities::Modality.

List of all members.

Public Types
Public Member Functions
virtual modalities::Modality *	clone () const
	Creates an additional copy of this class instance.
int	getFeatureCount ()
	return number of features detected
opentl::core::cvdata::LucasKanadeFeatures *	getLucasKanadeFeatures ()
float *	getLucasKanadeFeaturesError ()
char *	getLucasKanadeFeaturesStatus ()
virtual void	init ()
	Initialization function.
virtual int	matchFeatLevel (const TargetPtrVector &targets, T_MEAS_FEATPtrVector &outputMeas, std::size_t partitionIdx)
	Match model.
virtual int	matchObjLevel (const TargetPtrVector &targets, T_MEAS_OBJPtrVector &outputMeas, std::size_t partitionIdx)
	Match model.
	OpticalFlow (const OpticalFlow &c)
	Copy Constructor (deep copy).
	OpticalFlow (opentl::modelprojection::WarpBack *warpBack, int camIdx, opentl::modelprojection::GLRenderer *glRenderer)
	Constructor.
virtual int	preProcess (const opentl::core::cvdata::Image &image, const std::vector< std::vector< int > > &preProcessROIs)
	Converts a given Image into the specified color space To specify the destination color space, please use the param construct.
virtual int	sampleModelFeatures (const TargetPtrVector &targets)
	Sample color histogram from shape and appearance model, at given pose.
void	setInitialImage (const opentl::core::cvdata::Image &image)
	Sets the intial image.
virtual int	updateModelFeatures (const TargetPtrVector &targets)
	Update on-line color histogram from pre-processed image, at given pose.
virtual	~OpticalFlow ()
	Destructor.
Static Public Attributes
static std::vector < math::Matrix * >	bodyPointMat
static std::vector < boost::shared_ptr < opentl::core::cvdata::Image > >	eigImage
static std::vector < math::Vector * >	linkIdxOK
static std::vector < boost::shared_ptr < opentl::core::cvdata::Image > >	mPreProcessImage
static std::vector < boost::shared_ptr < opentl::core::cvdata::Image > >	mPreviousImage
static std::vector < boost::shared_ptr < opentl::core::cvdata::Image > >	pyrA
static std::vector < boost::shared_ptr < opentl::core::cvdata::Image > >	pyrB
static std::vector < boost::shared_ptr < opentl::core::cvdata::Image > >	renderImage
static std::vector < math::Matrix * >	screenPointMat
static std::vector < boost::shared_ptr < opentl::core::cvdata::Image > >	tempImage

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Member Enumeration Documentation

enum opentl::modalities::OpticalFlow::OfflineParameters

Parameters for visual processing in this class.

Enumerator:

MAX_CORNERS	Color channels of pre-processed image (default: HSV).
qualityLevel
minDistance
blockSize
useHarris
k
winSize
level
OFFLINE_COUNT

Reimplemented from opentl::modalities::Modality.

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Constructor & Destructor Documentation

opentl::modalities::OpticalFlow::OpticalFlow	(	opentl::modelprojection::WarpBack *	warpBack,
		int	camIdx,
		opentl::modelprojection::GLRenderer *	glRenderer
	)

Constructor.

Parameters:

	warp	Warp instance
	camIdx	Camera index
	Pointer	to the GLScene instance

opentl::modalities::OpticalFlow::OpticalFlow

(

const OpticalFlow &

c

)

Copy Constructor (deep copy).

virtual opentl::modalities::OpticalFlow::~OpticalFlow

(

)

[virtual]

Destructor.

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Member Function Documentation

virtual modalities::Modality* opentl::modalities::OpticalFlow::clone

(

)

const [virtual]

Creates an additional copy of this class instance.

Implements opentl::modalities::Modality.

int opentl::modalities::OpticalFlow::getFeatureCount

(

)

[inline]

return number of features detected

opentl::core::cvdata::LucasKanadeFeatures* opentl::modalities::OpticalFlow::getLucasKanadeFeatures

(

)

[inline]

Returns a pointer to the LucasKanade Feature Set.

float* opentl::modalities::OpticalFlow::getLucasKanadeFeaturesError

(

)

[inline]

Returns a pointer to the Status LucasKanade Feature Error.

char* opentl::modalities::OpticalFlow::getLucasKanadeFeaturesStatus

(

)

[inline]

Returns a pointer to the Status LucasKanade Feature Set (1: If Found, 0: If Not Found).

virtual void opentl::modalities::OpticalFlow::init

(

)

[virtual]

Initialization function.

Reimplemented from opentl::modalities::Modality.

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

Match model.

Parameters:

	targets	Vector of targets
	outputMeas

Reimplemented from opentl::modalities::Modality.

virtual int opentl::modalities::OpticalFlow::matchObjLevel	(	const TargetPtrVector &	targets,
		T_MEAS_OBJPtrVector &	outputMeas,
		std::size_t	partitionIdx
	)			[virtual]

Match model.

Parameters:

	targets	Vector of targets
	outputMeas	State-space measurement and residuals

Reimplemented from opentl::modalities::Modality.

virtual int opentl::modalities::OpticalFlow::preProcess	(	const opentl::core::cvdata::Image &	image,
		const std::vector< std::vector< int > > &	preProcessROIs
	)			[virtual]

Converts a given Image into the specified color space To specify the destination color space, please use the param construct.

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::OpticalFlow::sampleModelFeatures

(

const TargetPtrVector &

targets

)

[virtual]

Sample color histogram from shape and appearance model, at given pose.

Parameters:

targets

Vector of targets

Reimplemented from opentl::modalities::Modality.

void opentl::modalities::OpticalFlow::setInitialImage

(

const opentl::core::cvdata::Image &

image

)

Sets the intial image.

Parameters:

image

Input

virtual int opentl::modalities::OpticalFlow::updateModelFeatures

(

const TargetPtrVector &

targets

)

[virtual]

Update on-line color histogram from pre-processed image, at given pose.

Parameters:

targets

Vector of targets

Reimplemented from opentl::modalities::Modality.

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Member Data Documentation

std::vector<math::Matrix *> opentl::modalities::OpticalFlow::bodyPointMat [static]

std::vector<boost::shared_ptr<opentl::core::cvdata::Image> > opentl::modalities::OpticalFlow::eigImage [static]

std::vector<math::Vector *> opentl::modalities::OpticalFlow::linkIdxOK [static]

std::vector<boost::shared_ptr<opentl::core::cvdata::Image> > opentl::modalities::OpticalFlow::mPreProcessImage [static]

std::vector<boost::shared_ptr<opentl::core::cvdata::Image> > opentl::modalities::OpticalFlow::mPreviousImage [static]

std::vector<boost::shared_ptr<opentl::core::cvdata::Image> > opentl::modalities::OpticalFlow::pyrA [static]

std::vector<boost::shared_ptr<opentl::core::cvdata::Image> > opentl::modalities::OpticalFlow::pyrB [static]

std::vector<boost::shared_ptr<opentl::core::cvdata::Image> > opentl::modalities::OpticalFlow::renderImage [static]

std::vector<math::Matrix *> opentl::modalities::OpticalFlow::screenPointMat [static]

std::vector<boost::shared_ptr<opentl::core::cvdata::Image> > opentl::modalities::OpticalFlow::tempImage [static]