Inheritance diagram for LieAffine:

Public Types
typedef LieAffineParams	ParamType

Public Types inherited from ProjectiveBase
typedef boost::mt11213b	SampleGenT

typedef boost::normal_distribution< double >	SampleDistT

typedef SampleDistT::param_type	DistParamT

Public Types inherited from StateSpaceModel
typedef SSMEstimatorParams	EstimatorParams

Public Member Functions
	LieAffine (const ParamType *params_in=nullptr)

void	setCorners (const Matrix24d &corners) override

void	compositionalUpdate (const VectorXd &state_update) override

void	getInitPixGrad (Matrix2Xd &ssm_grad, int pix_id) override

void	getCurrPixGrad (Matrix2Xd &ssm_grad, int pix_id) override

void	cmptInitPixJacobian (MatrixXd &dI_dp, const PixGradT &dI_dw) override
	right multiplies the initial or current ssm jacobian with the provided am jacobian; though this can be accomplished by the search method itself with simple matrix multiplication, the ssm jacobian often satisfies several constraints (e.g. More...

void	cmptWarpedPixJacobian (MatrixXd &dI_dp, const PixGradT &dI_dw) override

void	cmptPixJacobian (MatrixXd &dI_dp, const PixGradT &dI_dw) override

void	cmptApproxPixJacobian (MatrixXd &dI_dp, const PixGradT &dI_dw) override

void	estimateWarpFromCorners (VectorXd &state_update, const Matrix24d &in_corners, const Matrix24d &out_corners) override

void	estimateWarpFromPts (VectorXd &state_update, vector< uchar > &mask, const vector< cv::Point2f > &in_pts, const vector< cv::Point2f > &out_pts, const EstimatorParams &est_params) override

void	invertState (VectorXd &inv_state, const VectorXd &state) override

void	getWarpFromState (Matrix3d &warp_mat, const VectorXd &ssm_state) override

void	getStateFromWarp (VectorXd &state_vec, const Matrix3d &warp_mat) override

Public Member Functions inherited from ProjectiveBase
	ProjectiveBase (const SSMParams *params)

void	setCorners (const CornersT &corners) override

void	setState (const VectorXd &ssm_state) override

void	additiveUpdate (const VectorXd &state_update) override

void	invertState (VectorXd &inv_state, const VectorXd &state) override

void	updateGradPts (double grad_eps) override

void	updateHessPts (double hess_eps) override

void	applyWarpToCorners (Matrix24d &warped_corners, const Matrix24d &orig_corners, const VectorXd &state_update) override

void	applyWarpToPts (Matrix2Xd &warped_pts, const Matrix2Xd &orig_pts, const VectorXd &state_update) override

void	applyWarpToPt (double &warped_x, double &warped_y, double x, double y, const ProjWarpT &warp)

void	getIdentityWarp (VectorXd &identity_warp) override

void	composeWarps (VectorXd &composed_state, const VectorXd &state_1, const VectorXd &state_2) override

void	initializeSampler (const VectorXd &state_sigma, const VectorXd &state_mean) override

void	setSampler (const VectorXd &state_sigma, const VectorXd &state_mean) override

void	setSamplerMean (const VectorXd &mean) override

void	setSamplerSigma (const VectorXd &std) override

VectorXd	getSamplerSigma () override

VectorXd	getSamplerMean () override

void	additiveRandomWalk (VectorXd &perturbed_state, const VectorXd &base_state) override

void	compositionalRandomWalk (VectorXd &perturbed_state, const VectorXd &base_state) override

void	additiveAutoRegression1 (VectorXd &perturbed_state, VectorXd &perturbed_ar, const VectorXd &base_state, const VectorXd &base_ar, double a=0.5) override

void	compositionalAutoRegression1 (VectorXd &perturbed_state, VectorXd &perturbed_ar, const VectorXd &base_state, const VectorXd &base_ar, double a=0.5) override

void	generatePerturbation (VectorXd &perturbation) override

void	generatePerturbedPts (VectorXd &perturbed_pts) override

void	estimateMeanOfSamples (VectorXd &sample_mean, const std::vector< VectorXd > &samples, int n_samples) override

void	getPerturbedPts (VectorXd &perturbed_pts, const VectorXd &state_perturbation) override

void	estimateStateSigma (VectorXd &state_sigma, double pix_sigma) override

Public Member Functions inherited from StateSpaceModel
	StateSpaceModel (const SSMParams *params)

virtual unsigned int	getStateSize ()

virtual unsigned int	getResX ()

virtual unsigned int	getResY ()

virtual unsigned int	getNPts ()

virtual unsigned int	getNChannels ()

virtual const PtsT &	getPts ()

virtual const CornersT &	getCorners ()

virtual const VectorXd &	getState ()

virtual const GradPtsT &	getGradPts ()

virtual const HessPtsT &	getHessPts ()

virtual void	getCorners (cv::Point2d *cv_corners)

virtual void	getCorners (cv::Mat &cv_corners)

virtual void	setNChannels (int _n_channels)

virtual void	setCorners (const cv::Mat &cv_corners)

virtual void	initialize (const CornersT &eig_corners, int _n_channels=1)

virtual void	initialize (const cv::Mat &cv_corners, int _n_channels=1)

virtual void	initializeGradPts (double grad_eps)

virtual void	initializeHessPts (double hess_eps)

virtual VectorXd	invertState (const VectorXd &state)

virtual void	cmptInitPixHessian (MatrixXd &pix_hess_ssm, const PixHessT &pix_hess_coord, const PixGradT &pix_grad)

virtual void	cmptPixHessian (MatrixXd &pix_hess_ssm, const PixHessT &pix_hess_coord, const PixGradT &pix_grad)

virtual void	cmptWarpedPixHessian (MatrixXd &pix_hess_ssm, const PixHessT &pix_hess_coord, const PixGradT &pix_grad)

virtual void	cmptApproxPixHessian (MatrixXd &pix_hess_ssm, const PixHessT &pix_hess_coord, const PixGradT &pix_grad)

virtual CornersT	applyWarpToCorners (const CornersT &in_corners, const VectorXd &ssm_state)

virtual void	applyWarpToCorners (cv::Mat &out_corners_cv, const cv::Mat &in_corners_cv, const VectorXd &ssm_state)

virtual cv::Mat	applyWarpToCorners (const cv::Mat &in_corners, const VectorXd &ssm_state)

virtual PtsT	applyWarpToPts (const PtsT &in_pts, const VectorXd &ssm_state)

virtual VectorXd	estimateWarpFromCorners (const CornersT &in_corners, const CornersT &out_corners)

virtual void	estimateWarpFromCorners (VectorXd &state_update, const cv::Mat &in_corners_cv, const cv::Mat &out_corners_cv)

virtual VectorXd	estimateWarpFromCorners (const cv::Mat &in_corners, const cv::Mat &out_corners)

virtual void	setInitStatus ()

virtual void	clearInitStatus ()

virtual void	setFirstIter ()

virtual void	clearFirstIter ()

virtual void	setSPIMask (const bool *_spi_mask)

virtual void	clearSPIMask ()

virtual bool	supportsSPI ()

Protected Member Functions
void	computeJacobian (MatrixXd &jacobian, Matrix3Xd &basis_pts_hm)

Protected Member Functions inherited from ProjectiveBase
const PtsT &	getNormPts () const

const HomPtsT &	getHomNormPts () const

const CornersT &	getNormCorners () const

const HomCornersT &	getHomNormCorners () const

void	getPtsFromCorners (ProjWarpT &warp, PtsT &pts, HomPtsT &pts_hm, const CornersT &corners)

Protected Attributes
ParamType	params

Matrix3d	lieAlgBasis [6]

RowVector3d	zero_vec

Matrix3d	lie_alg_mat

Protected Attributes inherited from ProjectiveBase
ProjWarpT	warp_mat

ProjWarpT	warp_update_mat

ProjWarpT	inv_warp_mat

ProjWarpT	curr_warp

HomPtsT	init_pts_hm
	3 x 3 projective warp matrix

HomPtsT	curr_pts_hm

HomCornersT	init_corners_hm

HomCornersT	curr_corners_hm

PtsT	norm_pts

HomPtsT	norm_pts_hm

CornersT	norm_corners

HomCornersT	norm_corners_hm

Protected Attributes inherited from StateSpaceModel
const unsigned int	resx

const unsigned int	resy

const unsigned int	n_pts

unsigned int	state_size

unsigned int	n_channels

VectorXd	curr_state
	parameters defining the SSM state

PtsT	init_pts
	grid points and corners that define the object's location in the frame

PtsT	curr_pts

CornersT	init_corners

CornersT	curr_corners

GradPtsT	grad_pts

HessPtsT	hess_pts

bool	identity_jacobian

SSMStatus	is_initialized
	keep track of what state variables have been initialized

bool	first_iter
	indicator variable that can be set by the search method to indicate when a new frame has been acquired; can be used to perform some costly operations/updates only once per frame rather than at every iteration of the same frame

const bool *	spi_mask

Additional Inherited Members
Public Attributes inherited from ProjectiveBase
std::vector< SampleGenT >	rand_gen

std::vector< SampleDistT >	rand_dist

VectorXd	state_perturbation

Public Attributes inherited from StateSpaceModel
string	name

Member Function Documentation

void LieAffine::cmptInitPixJacobian	(	MatrixXd &	jacobian_prod,
		const PixGradT &	pixel_grad
	)

overridevirtual

right multiplies the initial or current ssm jacobian with the provided am jacobian; though this can be accomplished by the search method itself with simple matrix multiplication, the ssm jacobian often satisfies several constraints (e.g.

sparsity) that can be exploited to gain computational savings by manually computing the product matrix

Reimplemented from StateSpaceModel.

The documentation for this class was generated from the following file:

SSM/include/mtf/SSM/LieAffine.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Member Function Documentation