Inheritance diagram for Spline:

Public Types
typedef SplineParams	ParamType

typedef SplineParams::InterpolationType	InterpolationType

Public Types inherited from StateSpaceModel
typedef SSMEstimatorParams	EstimatorParams

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

void	getCorners (cv::Mat &cv_corners) override

void	additiveUpdate (const VectorXd &state_update) override

void	setCorners (const CornersT &corners) override

void	compositionalUpdate (const VectorXd &state_update) override

void	setState (const VectorXd &state) override

void	cmptInitPixJacobian (MatrixXd &jacobian_prod, const PixGradT &am_jacobian) 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	cmptPixJacobian (MatrixXd &jacobian_prod, const PixGradT &am_jacobian) override

void	cmptWarpedPixJacobian (MatrixXd &jacobian_prod, const PixGradT &pix_jacobian) override

void	cmptApproxPixJacobian (MatrixXd &jacobian_prod, const PixGradT &pix_jacobian) override

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

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

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

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

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

void	updateGradPts (double grad_eps) override

void	updateHessPts (double hess_eps) override

bool	supportsSPI () override

void	getInitPixGrad (Matrix2Xd &jacobian_prod, int pix_id) override

void	getCurrPixGrad (Matrix2Xd &jacobian_prod, int pix_id) override

void	generatePerturbation (VectorXd &state_update) 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	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	applyWarpToCorners (CornersT &out_corners, const CornersT &in_corners, const VectorXd &ssm_state)

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 void	applyWarpToPts (PtsT &out_pts, const PtsT &in_pts, const VectorXd &ssm_state)

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

virtual void	getIdentityWarp (VectorXd &p)

virtual void	composeWarps (VectorXd &p12, const VectorXd &p1, const VectorXd &p2)

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

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

virtual void	setSamplerMean (const VectorXd &mean)

virtual void	setSamplerSigma (const VectorXd &std)

virtual VectorXd	getSamplerSigma ()

virtual VectorXd	getSamplerMean ()

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

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

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

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

virtual void	generatePerturbedPts (VectorXd &perturbed_pts)

virtual void	getPerturbedPts (VectorXd &perturbed_pts, const VectorXd &state_update)

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

virtual void	estimateStateSigma (VectorXd &state_sigma, double pix_sigma)

virtual void	setInitStatus ()

virtual void	clearInitStatus ()

virtual void	setFirstIter ()

virtual void	clearFirstIter ()

virtual void	setSPIMask (const bool *_spi_mask)

virtual void	clearSPIMask ()

Protected Member Functions
void	initInterpolationWeights ()

void	updateInterpolationWeights ()

double	getWeight (double x, double y)

Protected Attributes
ParamType	params

PtsT	norm_pts

CornersT	norm_corners

PtsT	init_control_pts

PtsT	curr_control_pts

VectorXd	ctrl_idx

VectorXd	ctrl_idy

unsigned int	control_res_x

unsigned int	control_res_y

unsigned int	n_control_pts

int	n_bounding_pts
	no. of pts that lie on the region boundary

VectorXd	dist_norm_x

VectorXd	dist_norm_y

MatrixXd	norm_dist_x

MatrixXd	norm_dist_y

MatrixXd	interp_wts

Matrix2Xd	ssm_grad

double	max_dist_x

double	max_dist_y

CornersT	rand_d

Vector2d	rand_t

CornersT	disturbed_corners

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 StateSpaceModel
string	name

Member Function Documentation

void Spline::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/Spline.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Member Function Documentation