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StateSpaceModel Class Reference
Inheritance diagram for StateSpaceModel:
ProjectiveBase Spline TPS Affine ASRT AST CBH Homography Isometry IST LieAffine LieHomography LieIsometry Similitude SL3 Translation

Public Types

typedef SSMEstimatorParams EstimatorParams
 

Public Member Functions

 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 setState (const VectorXd &ssm_state)
 
virtual void setCorners (const CornersT &eig_corners)
 
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 additiveUpdate (const VectorXd &state_update)
 
virtual void compositionalUpdate (const VectorXd &state_update)
 
virtual void updateGradPts (double grad_eps)
 
virtual void updateHessPts (double hess_eps)
 
virtual void invertState (VectorXd &inv_state, const VectorXd &state)
 
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 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 generatePerturbation (VectorXd &perturbation)
 
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 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

string name
 

Protected Attributes

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
 

Member Function Documentation

virtual void StateSpaceModel::cmptInitPixJacobian ( MatrixXd &  jacobian_prod,
const PixGradT &  pixel_grad 
)
inlinevirtual

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 in Spline, Similitude, ASRT, Translation, AST, IST, LieIsometry, Isometry, SL3, TPS, LieAffine, LieHomography, Affine, CBH, and Homography.

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