Public Member Functions
cv::Mat	affineRANSAC (AffineFlowMeasures &points, AffineFlowMeasures &inliers, float inlier_percent_est, float epsilon, int max_iterations=0, int min_iterations=2)
AffineFlowMeasures	clusterAffineKMeans (cv::Mat &color_img, cv::Mat &u, cv::Mat &v, AffineFlowMeasures &points)
AffineFlowMeasures	clusterFlowFields (cv::Mat &color_img, cv::Mat &depth_img, cv::Mat &u, cv::Mat &v, cv::Mat &mask)
AffineFlowMeasures	clusterFlowFieldsKMeans (cv::Mat &color_img, cv::Mat &depth_img, cv::Mat &u, cv::Mat &v, cv::Mat &mask)
AffineFlowMeasures	clusterFlowFieldsRANSAC (cv::Mat &color_img, cv::Mat &depth_img, cv::Mat &u, cv::Mat &v, cv::Mat &mask)
AffineFlowMeasures	clusterSparseFlowKMeans (cv::Mat &color_img, cv::Mat &depth_img, cv::Mat &u, cv::Mat &v, cv::Mat &mask)
AffineFlowMeasures	clusterSparseFlowRANSAC (cv::Mat &color_img, cv::Mat &depth_img, cv::Mat &u, cv::Mat &v, cv::Mat &mask)
void	displayClusterCenters (AffineFlowMeasures &cluster_centers, AffineFlowMeasures &samples, cv::Mat &color_img, int cur_max_k=0)
cv::Mat	estimateAffineTransform (cv::Mat &u, cv::Mat &v, const int r, const int c, const int radius)
cv::Mat	estimateAffineTransform (AffineFlowMeasures &points)
	FlowClustering (FeatureTracker *ft, int kmeans_max_iter=200, double kmeans_epsilon=0.5, int kmeans_tries=5, int affine_estimate_radius=5, double surf_hessian=100)
AffineFlowMeasures	getAffineConsensus (AffineFlowMeasures points, cv::Mat cur_transform, float epsilon)
float	getAffineDistortion (AffineFlowMeasure f, cv::Mat A)
Public Attributes
int	affine_estimate_radius_
double	kmeans_epsilon_
int	kmeans_max_iter_
int	kmeans_tries_
int	max_k_
int	max_ransac_iters_
int	min_affine_point_set_size_
double	minimum_new_cluster_separation_
double	ransac_epsilon_
double	ransac_inlier_percent_est_
Protected Attributes
cv::Mat	dx_kernel_
cv::Mat	dy_kernel_
FeatureTracker *	ft_
cv::Mat	g_kernel_

Detailed Description

Definition at line 1 of file flow_clustering.cpp.

Constructor & Destructor Documentation

FlowClustering::FlowClustering	(	FeatureTracker *	ft,
		int	kmeans_max_iter = `200`,
		double	kmeans_epsilon = `0.5`,
		int	kmeans_tries = `5`,
		int	affine_estimate_radius = `5`,
		double	surf_hessian = `100`
	)		`[inline]`

Definition at line 4 of file flow_clustering.cpp.

Member Function Documentation

cv::Mat FlowClustering::affineRANSAC	(	AffineFlowMeasures &	points,
		AffineFlowMeasures &	inliers,
		float	inlier_percent_est,
		float	epsilon,
		int	max_iterations = `0`,
		int	min_iterations = `2`
	)		`[inline]`

Method fits an affine motion estimate to a set of image points using RANSAC

Parameters:

points	The set of individual flow estimates
inliers	Returns the set of points determined to be inliers
inlier_percent_est	the estimated percent of inliers in points
epsilon	the threshold for being an inlier
max_iterations	The maximum number of sample iterations to execute
min_iterations	The minimum number of sample iterations to execute

Returns:: The best fit affine estimate

Definition at line 475 of file flow_clustering.cpp.

AffineFlowMeasures FlowClustering::clusterAffineKMeans	(	cv::Mat &	color_img,
		cv::Mat &	u,
		cv::Mat &	v,
		AffineFlowMeasures &	points
	)		`[inline]`

Definition at line 210 of file flow_clustering.cpp.

AffineFlowMeasures FlowClustering::clusterFlowFields	(	cv::Mat &	color_img,
		cv::Mat &	depth_img,
		cv::Mat &	u,
		cv::Mat &	v,
		cv::Mat &	mask
	)		`[inline]`

Definition at line 19 of file flow_clustering.cpp.

AffineFlowMeasures FlowClustering::clusterFlowFieldsKMeans	(	cv::Mat &	color_img,
		cv::Mat &	depth_img,
		cv::Mat &	u,
		cv::Mat &	v,
		cv::Mat &	mask
	)		`[inline]`

Definition at line 26 of file flow_clustering.cpp.

AffineFlowMeasures FlowClustering::clusterFlowFieldsRANSAC	(	cv::Mat &	color_img,
		cv::Mat &	depth_img,
		cv::Mat &	u,
		cv::Mat &	v,
		cv::Mat &	mask
	)		`[inline]`

Definition at line 64 of file flow_clustering.cpp.

AffineFlowMeasures FlowClustering::clusterSparseFlowKMeans	(	cv::Mat &	color_img,
		cv::Mat &	depth_img,
		cv::Mat &	u,
		cv::Mat &	v,
		cv::Mat &	mask
	)		`[inline]`

Definition at line 169 of file flow_clustering.cpp.

AffineFlowMeasures FlowClustering::clusterSparseFlowRANSAC	(	cv::Mat &	color_img,
		cv::Mat &	depth_img,
		cv::Mat &	u,
		cv::Mat &	v,
		cv::Mat &	mask
	)		`[inline]`

Definition at line 198 of file flow_clustering.cpp.

void FlowClustering::displayClusterCenters	(	AffineFlowMeasures &	cluster_centers,
		AffineFlowMeasures &	samples,
		cv::Mat &	color_img,
		int	cur_max_k = `0`
	)		`[inline]`