base class for all SSMs that can be expressed by homogeneous multiplication with a 3x3 projective transformation matrix More...

#include <ProjectiveBase.h>

Inheritance diagram for ProjectiveBase:

Public Types
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
	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

virtual void	getWarpFromState (Matrix3d &warp_mat, const VectorXd &ssm_state)=0

virtual void	getStateFromWarp (VectorXd &state_vec, const Matrix3d &warp_mat)=0

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 void	compositionalUpdate (const VectorXd &state_update)

virtual VectorXd	invertState (const VectorXd &state)

virtual void	cmptInitPixJacobian (MatrixXd &jacobian_prod, const PixGradT &pixel_grad)
	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...

virtual void	cmptPixJacobian (MatrixXd &jacobian_prod, const PixGradT &pixel_grad)

virtual void	cmptWarpedPixJacobian (MatrixXd &jacobian_prod, const PixGradT &pixel_grad)

virtual void	cmptApproxPixJacobian (MatrixXd &jacobian_prod, const PixGradT &pixel_grad)

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 void	estimateWarpFromCorners (VectorXd &state_update, const CornersT &in_corners, const CornersT &out_corners)

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

virtual void	getInitPixGrad (PtsT &jacobian_prod, int pix_id)

virtual void	getCurrPixGrad (PtsT &jacobian_prod, int pix_id)

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 ()

Public Attributes
std::vector< SampleGenT >	rand_gen

std::vector< SampleDistT >	rand_dist

VectorXd	state_perturbation

Public Attributes inherited from StateSpaceModel
string	name

Protected Member Functions
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
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

Detailed Description

base class for all SSMs that can be expressed by homogeneous multiplication with a 3x3 projective transformation matrix

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

SSM/include/mtf/SSM/ProjectiveBase.h

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description