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

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Detailed Description

Definition at line 49 of file PatchFinder.h.

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Constructor & Destructor Documentation

PatchFinder::PatchFinder

(

int

nPatchSize = 8

)

Definition at line 19 of file PatchFinder.cc.

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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.

double PatchFinder::IterateSubPix

(

KeyFrame &

kf

)

Definition at line 305 of file PatchFinder.cc.

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

Definition at line 285 of file PatchFinder.cc.

void PatchFinder::MakeSubPixTemplate

(

)

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.

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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.

int PatchFinder::mnMaxSSD

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.

int PatchFinder::mnTemplateSumSq [protected]

Definition at line 113 of file PatchFinder.h.

MapPoint::Ptr PatchFinder::mpLastTemplateMapPoint [protected]

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.

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

• PatchFinder.h
• PatchFinder.cc