#include <PatchFinder.h>
Public Member Functions | |
| int | CalcSearchLevelAndWarpMatrix (MapPoint &p, SE3<> se3CFromW, Matrix< 2 > &m2CamDerivs) |
| bool | FindPatchCoarse (CVD::ImageRef ir, 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 (MapPoint &p, SE3<> se3CFromW, Matrix< 2 > &m2CamDerivs) |
| void | MakeTemplateCoarseCont (MapPoint &p) |
| void | MakeTemplateCoarseNoWarp (MapPoint &p) |
| void | MakeTemplateCoarseNoWarp (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 * | mpLastTemplateMapPoint |
| Vector< 2 > | mv2CoarsePos |
| Vector< 2 > | mv2SubPixPos |
Definition at line 48 of file PatchFinder.h.
| PatchFinder::PatchFinder | ( | int | nPatchSize = 8 | ) |
Definition at line 19 of file PatchFinder.cc.
| int PatchFinder::CalcSearchLevelAndWarpMatrix | ( | MapPoint & | p, |
| SE3<> | se3CFromW, | ||
| Matrix< 2 > & | m2CamDerivs | ||
| ) |
Definition at line 33 of file PatchFinder.cc.
| bool PatchFinder::FindPatchCoarse | ( | CVD::ImageRef | ir, |
| KeyFrame & | kf, | ||
| unsigned int | nRange | ||
| ) |
Definition at line 179 of file PatchFinder.cc.
| CVD::ImageRef PatchFinder::GetCoarsePos | ( | ) | [inline] |
Definition at line 85 of file PatchFinder.h.
| Vector<2> PatchFinder::GetCoarsePosAsVector | ( | ) | [inline] |
Definition at line 86 of file PatchFinder.h.
| Matrix<2> PatchFinder::GetCov | ( | ) | [inline] |
Definition at line 99 of file PatchFinder.h.
| int PatchFinder::GetLevel | ( | ) | [inline] |
Definition at line 62 of file PatchFinder.h.
| int PatchFinder::GetLevelScale | ( | ) | [inline] |
Definition at line 63 of file PatchFinder.h.
| Vector<2> PatchFinder::GetSubPixPos | ( | ) | [inline] |
Definition at line 94 of file PatchFinder.h.
| double PatchFinder::IterateSubPix | ( | KeyFrame & | kf | ) |
Definition at line 306 of file PatchFinder.cc.
| bool PatchFinder::IterateSubPixToConvergence | ( | KeyFrame & | kf, |
| int | nMaxIts | ||
| ) |
Definition at line 286 of file PatchFinder.cc.
| void PatchFinder::MakeSubPixTemplate | ( | ) |
Definition at line 254 of file PatchFinder.cc.
| void PatchFinder::MakeTemplateCoarse | ( | MapPoint & | p, |
| SE3<> | se3CFromW, | ||
| Matrix< 2 > & | m2CamDerivs | ||
| ) |
Definition at line 72 of file PatchFinder.cc.
| void PatchFinder::MakeTemplateCoarseCont | ( | MapPoint & | p | ) |
Definition at line 81 of file PatchFinder.cc.
| void PatchFinder::MakeTemplateCoarseNoWarp | ( | MapPoint & | p | ) |
Definition at line 152 of file PatchFinder.cc.
| void PatchFinder::MakeTemplateCoarseNoWarp | ( | KeyFrame & | k, |
| int | nLevel, | ||
| CVD::ImageRef | irLevelPos | ||
| ) |
| void PatchFinder::MakeTemplateSums | ( | ) | [inline, protected] |
Definition at line 159 of file PatchFinder.cc.
| void PatchFinder::SetSubPixPos | ( | Vector< 2 > | v2 | ) | [inline] |
Definition at line 95 of file PatchFinder.h.
| bool PatchFinder::TemplateBad | ( | ) | [inline] |
Definition at line 75 of file PatchFinder.h.
| int PatchFinder::ZMSSDAtPoint | ( | CVD::BasicImage< CVD::byte > & | im, |
| const CVD::ImageRef & | ir | ||
| ) |
Definition at line 400 of file PatchFinder.cc.
bool PatchFinder::mbFound [protected] |
Definition at line 127 of file PatchFinder.h.
bool PatchFinder::mbTemplateBad [protected] |
Definition at line 128 of file PatchFinder.h.
double PatchFinder::mdMeanDiff [protected] |
Definition at line 122 of file PatchFinder.h.
CVD::Image<std::pair<float,float> > PatchFinder::mimJacs [protected] |
Definition at line 116 of file PatchFinder.h.
CVD::Image<CVD::byte> PatchFinder::mimTemplate [protected] |
Definition at line 115 of file PatchFinder.h.
CVD::ImageRef PatchFinder::mirCenter [protected] |
Definition at line 126 of file PatchFinder.h.
CVD::ImageRef PatchFinder::mirPredictedPos [protected] |
Definition at line 124 of file PatchFinder.h.
Matrix<2> PatchFinder::mm2LastWarpMatrix [protected] |
Definition at line 132 of file PatchFinder.h.
Matrix<2> PatchFinder::mm2WarpInverse [protected] |
Definition at line 118 of file PatchFinder.h.
Matrix<3> PatchFinder::mm3HInv [protected] |
Definition at line 120 of file PatchFinder.h.
Definition at line 102 of file PatchFinder.h.
int PatchFinder::mnPatchSize [protected] |
Definition at line 108 of file PatchFinder.h.
int PatchFinder::mnSearchLevel [protected] |
Definition at line 119 of file PatchFinder.h.
int PatchFinder::mnTemplateSum [protected] |
Definition at line 111 of file PatchFinder.h.
int PatchFinder::mnTemplateSumSq [protected] |
Definition at line 112 of file PatchFinder.h.
MapPoint* PatchFinder::mpLastTemplateMapPoint [protected] |
Definition at line 131 of file PatchFinder.h.
Vector<2> PatchFinder::mv2CoarsePos [protected] |
Definition at line 125 of file PatchFinder.h.
Vector<2> PatchFinder::mv2SubPixPos [protected] |
Definition at line 121 of file PatchFinder.h.