PatchFinder Class Reference

#include <PatchFinder.h>

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

Public Attributes
int	mnMaxSSD

Protected Member Functions
void	MakeTemplateSums ()

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

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.cpp.

Member Function Documentation

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

Definition at line 33 of file PatchFinder.cpp.

bool PatchFinder::FindPatchCoarse	(	CVD::ImageRef	ir,
		KeyFrame &	kf,
		unsigned int	nRange
	)

Definition at line 179 of file PatchFinder.cpp.

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 306 of file PatchFinder.cpp.

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

Definition at line 286 of file PatchFinder.cpp.

void PatchFinder::MakeSubPixTemplate

(

)

Definition at line 254 of file PatchFinder.cpp.

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

Definition at line 72 of file PatchFinder.cpp.

void PatchFinder::MakeTemplateCoarseCont

(

MapPoint &

p

)

Definition at line 81 of file PatchFinder.cpp.

void PatchFinder::MakeTemplateCoarseNoWarp

(

MapPoint &

p

)

Definition at line 152 of file PatchFinder.cpp.

void PatchFinder::MakeTemplateCoarseNoWarp	(	KeyFrame &	k,
		int	nLevel,
		CVD::ImageRef	irLevelPos
	)

Definition at line 133 of file PatchFinder.cpp.

void PatchFinder::MakeTemplateSums ( )

inlineprotected

Definition at line 159 of file PatchFinder.cpp.

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 400 of file PatchFinder.cpp.

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* 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:

• libSLAMflex - android project/jni/PatchFinder.h
• libSLAMflex - android project/jni/PatchFinder.cpp