Public Member Functions | Public Attributes | Protected Member Functions | Protected Attributes
PatchFinder Class Reference

#include <PatchFinder.h>

List of all members.

Public Member Functions

int CalcSearchLevelAndWarpMatrix (boost::shared_ptr< MapPoint > p, SE3<> se3CFromW, Matrix< 2 > &m2CamDerivs)
bool FindPatchCoarse (CVD::ImageRef ir, boost::shared_ptr< KeyFrame > kf, unsigned int nRange)
CVD::ImageRef GetCoarsePos ()
Vector< 2 > GetCoarsePosAsVector ()
Matrix< 2 > GetCov ()
int GetLevel ()
int GetLevelScale ()
Vector< 2 > GetSubPixPos ()
double IterateSubPix (KeyFrame &kf)
bool IterateSubPixToConvergence (KeyFrame &kf, int nMaxIts)
void MakeSubPixTemplate ()
void MakeTemplateCoarse (boost::shared_ptr< MapPoint >, SE3<> se3CFromW, Matrix< 2 > &m2CamDerivs)
void MakeTemplateCoarseCont (boost::shared_ptr< MapPoint > p)
void MakeTemplateCoarseNoWarp (boost::shared_ptr< MapPoint > p)
void MakeTemplateCoarseNoWarp (boost::shared_ptr< KeyFrame > k, int nLevel, CVD::ImageRef irLevelPos)
 PatchFinder (int nPatchSize=8)
void SetSubPixPos (Vector< 2 > v2)
bool TemplateBad ()
int ZMSSDAtPoint (CVD::BasicImage< CVD::byte > &im, const CVD::ImageRef &ir)

Public Attributes

int mnMaxSSD

Protected Member Functions

void MakeTemplateSums ()

Protected Attributes

bool mbFound
bool mbTemplateBad
double mdMeanDiff
CVD::Image< std::pair< float,
float > > 
mimJacs
CVD::Image< CVD::byte > mimTemplate
CVD::ImageRef mirCenter
CVD::ImageRef mirPredictedPos
Matrix< 2 > mm2LastWarpMatrix
Matrix< 2 > mm2WarpInverse
Matrix< 3 > mm3HInv
int mnPatchSize
int mnSearchLevel
int mnTemplateSum
int mnTemplateSumSq
MapPoint::Ptr mpLastTemplateMapPoint
Vector< 2 > mv2CoarsePos
Vector< 2 > mv2SubPixPos

Detailed Description

Definition at line 49 of file PatchFinder.h.


Constructor & Destructor Documentation

PatchFinder::PatchFinder ( int  nPatchSize = 8)

Definition at line 19 of file PatchFinder.cc.


Member Function Documentation

int PatchFinder::CalcSearchLevelAndWarpMatrix ( boost::shared_ptr< MapPoint p,
SE3<>  se3CFromW,
Matrix< 2 > &  m2CamDerivs 
)

Definition at line 32 of file PatchFinder.cc.

bool PatchFinder::FindPatchCoarse ( CVD::ImageRef  ir,
boost::shared_ptr< KeyFrame kf,
unsigned int  nRange 
)

Definition at line 178 of file PatchFinder.cc.

CVD::ImageRef PatchFinder::GetCoarsePos ( ) [inline]

Definition at line 86 of file PatchFinder.h.

Vector<2> PatchFinder::GetCoarsePosAsVector ( ) [inline]

Definition at line 87 of file PatchFinder.h.

Matrix<2> PatchFinder::GetCov ( ) [inline]

Definition at line 100 of file PatchFinder.h.

int PatchFinder::GetLevel ( ) [inline]

Definition at line 63 of file PatchFinder.h.

int PatchFinder::GetLevelScale ( ) [inline]

Definition at line 64 of file PatchFinder.h.

Vector<2> PatchFinder::GetSubPixPos ( ) [inline]

Definition at line 95 of file PatchFinder.h.

Definition at line 305 of file PatchFinder.cc.

bool PatchFinder::IterateSubPixToConvergence ( KeyFrame kf,
int  nMaxIts 
)

Definition at line 285 of file PatchFinder.cc.

Definition at line 253 of file PatchFinder.cc.

void PatchFinder::MakeTemplateCoarse ( boost::shared_ptr< MapPoint p,
SE3<>  se3CFromW,
Matrix< 2 > &  m2CamDerivs 
)

Definition at line 71 of file PatchFinder.cc.

void PatchFinder::MakeTemplateCoarseCont ( boost::shared_ptr< MapPoint p)

Definition at line 80 of file PatchFinder.cc.

void PatchFinder::MakeTemplateCoarseNoWarp ( boost::shared_ptr< MapPoint p)

Definition at line 151 of file PatchFinder.cc.

void PatchFinder::MakeTemplateCoarseNoWarp ( boost::shared_ptr< KeyFrame k,
int  nLevel,
CVD::ImageRef  irLevelPos 
)
void PatchFinder::MakeTemplateSums ( ) [inline, protected]

Definition at line 158 of file PatchFinder.cc.

void PatchFinder::SetSubPixPos ( Vector< 2 >  v2) [inline]

Definition at line 96 of file PatchFinder.h.

bool PatchFinder::TemplateBad ( ) [inline]

Definition at line 76 of file PatchFinder.h.

int PatchFinder::ZMSSDAtPoint ( CVD::BasicImage< CVD::byte > &  im,
const CVD::ImageRef &  ir 
)

Definition at line 399 of file PatchFinder.cc.


Member Data Documentation

bool PatchFinder::mbFound [protected]

Definition at line 128 of file PatchFinder.h.

bool PatchFinder::mbTemplateBad [protected]

Definition at line 129 of file PatchFinder.h.

double PatchFinder::mdMeanDiff [protected]

Definition at line 123 of file PatchFinder.h.

CVD::Image<std::pair<float,float> > PatchFinder::mimJacs [protected]

Definition at line 117 of file PatchFinder.h.

CVD::Image<CVD::byte> PatchFinder::mimTemplate [protected]

Definition at line 116 of file PatchFinder.h.

CVD::ImageRef PatchFinder::mirCenter [protected]

Definition at line 127 of file PatchFinder.h.

CVD::ImageRef PatchFinder::mirPredictedPos [protected]

Definition at line 125 of file PatchFinder.h.

Matrix<2> PatchFinder::mm2LastWarpMatrix [protected]

Definition at line 133 of file PatchFinder.h.

Matrix<2> PatchFinder::mm2WarpInverse [protected]

Definition at line 119 of file PatchFinder.h.

Matrix<3> PatchFinder::mm3HInv [protected]

Definition at line 121 of file PatchFinder.h.

Definition at line 103 of file PatchFinder.h.

int PatchFinder::mnPatchSize [protected]

Definition at line 109 of file PatchFinder.h.

int PatchFinder::mnSearchLevel [protected]

Definition at line 120 of file PatchFinder.h.

int PatchFinder::mnTemplateSum [protected]

Definition at line 112 of file PatchFinder.h.

Definition at line 113 of file PatchFinder.h.

Definition at line 132 of file PatchFinder.h.

Vector<2> PatchFinder::mv2CoarsePos [protected]

Definition at line 126 of file PatchFinder.h.

Vector<2> PatchFinder::mv2SubPixPos [protected]

Definition at line 122 of file PatchFinder.h.


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


ptam
Author(s): Stephan Weiss, Markus Achtelik, Simon Lynen
autogenerated on Tue Jan 7 2014 11:12:22