opentl::modalities::ColourHist2D Class Reference

Inherits opentl::modalities::Modality.

List of all members.

Public Types
Public Member Functions
virtual modalities::Modality *	clone () const
	Creates an additional copy of this class instance.
	ColourHist2D (const ColourHist2D &c)
	Copy Constructor (deep copy).
	ColourHist2D (opentl::modelprojection::Warp *warp, int camIdx, opentl::modelprojection::GLRenderer *renderer=NULL)
	Constructor.
virtual int	copyMTrack2MDetect (const TargetPtrVector *targets)
	Copy the on-line histogram (Mtrack) into the off-line one (Mdetect).
void	getRotatedImageOfLink (const boost::shared_ptr< opentl::core::State > &state, const boost::shared_ptr< models::ObjModel > &objModel, double &x, double &y, double &width, double &height, int linkIdx)
	Compute the rotated bounding box of one or more faces, and fills a binary mask (white inside the rotated box, black outside) NOTE: the mask image is processed only within the bounding region of the projected face, while the rest is left unchanged.
opentl::core::cvdata::Image &	getSegmentationImage (std::size_t targetId)
virtual void	init ()
	Initialization function.
virtual int	matchFeatLevel (const TargetPtrVector &targets, T_MEAS_FEATPtrVector &outputMeas, std::size_t partitionIdx)
	Match model and image color histograms, under a given pose hypothesis.
virtual int	matchPixLevel (const TargetPtrVector &targets, T_MEAS_PIXPtrVector &outputMeas, std::size_t partitionIdx)
	Matching on pixel level compute the histogram back-projection of the HSV image.
virtual int	preProcess (const opentl::core::cvdata::Image &image, const std::vector< std::vector< int > > &preProcessROIs)
	Converts a given Image into the specified color space To specify the destination color space, please use the param construct.
virtual int	sampleModelFeatures (const TargetPtrVector &targets)
	Sample color histogram from shape and appearance model, at given pose.
virtual int	updateModelFeatures (const TargetPtrVector &targets)
	Update on-line color histogram from pre-processed image, at given pose.
virtual	~ColourHist2D ()
	Destructor.
Static Public Attributes
static std::vector < std::vector< std::vector < opentl::core::cvdata::ColourHist2d > > >	mColourHist2DFeatures_z
	Storage for _temp._ image color histogram First camera index, 2nd target id, 3rd face index.
static std::vector < std::vector< std::vector < opentl::core::cvdata::ColourHist2d > > >	mColourHist2DMdetect
	Storage for reference color histogram (off-line, from SampleModelFeatures) One histogram per: target and patch The first index specifies the camera index, the second index specifies the targetid, 3rd index faceid.
static std::vector < std::vector< std::vector < opentl::core::cvdata::ColourHist2d > > >	mColourHist2DMtrack
	Storage for reference color histogram (on-line, from UpdateModelFeatures) One histogram per: target and patch The first index specifies the camera index, the second index specifies the targetid, 3rd index faceid.
static std::vector < boost::shared_ptr < opentl::core::cvdata::Image > >	mColourHist2DStaticDataImage
static std::vector < boost::shared_ptr < cvprocess::ColorHistShader > >	mHistoShaders
	Shader for computing the color histogram on the GPU.
static std::vector < boost::shared_ptr < cvprocess::ColorHistSum > >	mHistoSumShaders
	Shader for summing up partial color histograms on the GPU.
static std::vector < boost::shared_ptr < opentl::core::cvdata::TextureGpu > >	mInputTextures
	Texture to copy the input image on the GPU.
static std::vector < boost::shared_ptr < opentl::core::cvdata::TextureGpu > >	mShadowTextures
	Texture for the object shadow (mask) GPU.
Protected Member Functions
virtual void	getImageHistogram (const boost::shared_ptr< opentl::core::State > &state, const boost::shared_ptr< models::ObjModel > &objModel, std::vector< opentl::core::cvdata::ColourHist2d > &MDestination)
	Sample color histogram from image pixels, using either CPU- or GPU-based implementation, for a given shadow type.

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Member Enumeration Documentation

enum opentl::modalities::ColourHist2D::OfflineParameters

Parameters for visual processing in this class.

Enumerator:

preProcess_DestColorFormat	Color channels of pre-processed image (default: HSV).
sampleModelFeatures_Bins1	(int) Size of the histogram for the first color channel
sampleModelFeatures_Bins2	(int) Size of the histogram for the second color channel
sampleModelFeatures_Bins3	(int) Size of the histogram for the third color channel
computeVectorResidual	(bool) Whether to compute a scalar (Bhattacharyya distance) or vector (histogram difference) residual
matchFeatShadowType	(shadowType) Type of matching shadow mask (bounding box, etc.) for the histogram
matchFeatUseHistogramGPU	(bool) Whether to use the GPU for computing the histogram itself (using shaders)
OFFLINE_COUNT

Reimplemented from opentl::modalities::Modality.

enum opentl::modalities::ColourHist2D::OnlineParameters

Enumerator:

matchPixVariance	(double) Variance of pixel-level measurement residual
matchPixBinaryThreshold	(double) Binary segmentation threshold in [0.0,1.0] (default = -1: no thresholding, all grey levels are kept)
matchPixUsingResidualImage	(bool) Whether to compute the full residual image, or just a scalar (count of white pixels)
matchPixHandlingOcclusions	(bool) Whether to handle mutual occlusions between targets or not, during pixel matching (default: false)
matchFeatVariance	(double) Variance of feature-level measurement residual (scalar or vector case)
matchFeatWithMdetect	(bool) Whether to use the off-line reference histogram
matchFeatWithMtrack	(bool) Whether to use the on-line reference histogram
matchFeatMdetectWeight	(double) Weight for the off-line reference histogram (obtained by sampleModelFeatures) during the matching
matchFeatMtrackWeight	(double) Weight for the on-line reference histogram (obtained by updateModelFeatures) during the matching
matchFeatHandlingOcclusions	(bool) Whether to handle mutual occlusions between targets or not, during histogram matching (default: false)
ONLINE_COUNT

Reimplemented from opentl::modalities::Modality.

enum opentl::modalities::ColourHist2D::shadowType

Type of projected shadow mask, for collecting histograms.

Enumerator:

BOUNDING_BOX	Straight-up bounding box (default).
ROTATED_BOX	Minimum-area, rotated bounding box.
BOUNDING_CIRCLE	Screen bounding circle.
FULL_SHADOW	Projected screen shadow, using OpenGL.

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Constructor & Destructor Documentation

opentl::modalities::ColourHist2D::ColourHist2D	(	opentl::modelprojection::Warp *	warp,
		int	camIdx,
		opentl::modelprojection::GLRenderer *	renderer = NULL
	)

Constructor.

Parameters:

	warp	Warp instance
	camIdx	Camera index
	Pointer	to the GLRenderer instance, if the full object shadow is used while sampling the histogram

opentl::modalities::ColourHist2D::ColourHist2D

(

const ColourHist2D &

c

)

Copy Constructor (deep copy).

virtual opentl::modalities::ColourHist2D::~ColourHist2D

(

)

[virtual]

Destructor.

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Member Function Documentation

virtual modalities::Modality* opentl::modalities::ColourHist2D::clone

(

)

const [virtual]

Creates an additional copy of this class instance.

Implements opentl::modalities::Modality.

virtual int opentl::modalities::ColourHist2D::copyMTrack2MDetect

(

const TargetPtrVector *

targets

)

[virtual]

Copy the on-line histogram (Mtrack) into the off-line one (Mdetect).

Parameters:

targets

Vector of targets

virtual void opentl::modalities::ColourHist2D::getImageHistogram	(	const boost::shared_ptr< opentl::core::State > &	state,
		const boost::shared_ptr< models::ObjModel > &	objModel,
		std::vector< opentl::core::cvdata::ColourHist2d > &	MDestination
	)			[protected, virtual]

Sample color histogram from image pixels, using either CPU- or GPU-based implementation, for a given shadow type.

Parameters:

	state	Object state (single-target)
	objModel	Object model
	MDestination	Destination histogram
	bSetModelPoints	Whether to set model points inside the Warp, before calling getScreenBoundingLimits

void opentl::modalities::ColourHist2D::getRotatedImageOfLink	(	const boost::shared_ptr< opentl::core::State > &	state,
		const boost::shared_ptr< models::ObjModel > &	objModel,
		double &	x,
		double &	y,
		double &	width,
		double &	height,
		int	linkIdx
	)

Compute the rotated bounding box of one or more faces, and fills a binary mask (white inside the rotated box, black outside) NOTE: the mask image is processed only within the bounding region of the projected face, while the rest is left unchanged.

Parameters:

	state	State hypothesis
	objModel	Object model
	(x,y,width,height)	Output coordinates of the upright bounding box
	linkIdx	Link Id
	bSetModelPoints	Whether to set model points inside the Warp, before calling getScreenBoundingLimits

opentl::core::cvdata::Image& opentl::modalities::ColourHist2D::getSegmentationImage

(

std::size_t

targetId

)

virtual void opentl::modalities::ColourHist2D::init

(

)

[virtual]

Initialization function.

Reimplemented from opentl::modalities::Modality.

virtual int opentl::modalities::ColourHist2D::matchFeatLevel	(	const TargetPtrVector &	targets,
		T_MEAS_FEATPtrVector &	outputMeas,
		std::size_t	partitionIdx
	)			[virtual]

Match model and image color histograms, under a given pose hypothesis.

Parameters:

	targets	Vector of targets
	outputMeas	Each one is a set of Bhattacharyya distances (residuals) between model and image histograms, for all patches

Reimplemented from opentl::modalities::Modality.

virtual int opentl::modalities::ColourHist2D::matchPixLevel	(	const TargetPtrVector &	targets,
		T_MEAS_PIXPtrVector &	outputMeas,
		std::size_t	partitionIdx
	)			[virtual]

Matching on pixel level

• compute the histogram back-projection of the HSV image.

Parameters:

	targets	Vector of targets
	outputMeas	Pixel-space measurement (can be a pixel map of residuals, or a unique residual value)

Reimplemented from opentl::modalities::Modality.

virtual int opentl::modalities::ColourHist2D::preProcess	(	const opentl::core::cvdata::Image &	image,
		const std::vector< std::vector< int > > &	preProcessROIs
	)			[virtual]

Converts a given Image into the specified color space To specify the destination color space, please use the param construct.

Parameters:

	image	Input sensor data (e.g. camera image in RGB)
	preProcessROIs	Regions of interest (x0,y0,width,height), per target

Reimplemented from opentl::modalities::Modality.

virtual int opentl::modalities::ColourHist2D::sampleModelFeatures

(

const TargetPtrVector &

targets

)

[virtual]

Sample color histogram from shape and appearance model, at given pose.

Parameters:

targets

Vector of targets

Reimplemented from opentl::modalities::Modality.

virtual int opentl::modalities::ColourHist2D::updateModelFeatures

(

const TargetPtrVector &

targets

)

[virtual]

Update on-line color histogram from pre-processed image, at given pose.

Parameters:

targets

Vector of targets

Reimplemented from opentl::modalities::Modality.

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Member Data Documentation

std::vector<std::vector<std::vector<opentl::core::cvdata::ColourHist2d> > > opentl::modalities::ColourHist2D::mColourHist2DFeatures_z [static]

Storage for _temp._ image color histogram First camera index, 2nd target id, 3rd face index.

std::vector<std::vector<std::vector<opentl::core::cvdata::ColourHist2d> > > opentl::modalities::ColourHist2D::mColourHist2DMdetect [static]

Storage for reference color histogram (off-line, from SampleModelFeatures) One histogram per: target and patch The first index specifies the camera index, the second index specifies the targetid, 3rd index faceid.

std::vector<std::vector<std::vector<opentl::core::cvdata::ColourHist2d> > > opentl::modalities::ColourHist2D::mColourHist2DMtrack [static]

Storage for reference color histogram (on-line, from UpdateModelFeatures) One histogram per: target and patch The first index specifies the camera index, the second index specifies the targetid, 3rd index faceid.

std::vector<boost::shared_ptr<opentl::core::cvdata::Image> > opentl::modalities::ColourHist2D::mColourHist2DStaticDataImage [static]

std::vector<boost::shared_ptr<cvprocess::ColorHistShader> > opentl::modalities::ColourHist2D::mHistoShaders [static]

Shader for computing the color histogram on the GPU.

std::vector<boost::shared_ptr<cvprocess::ColorHistSum> > opentl::modalities::ColourHist2D::mHistoSumShaders [static]

Shader for summing up partial color histograms on the GPU.

std::vector<boost::shared_ptr<opentl::core::cvdata::TextureGpu> > opentl::modalities::ColourHist2D::mInputTextures [static]

Texture to copy the input image on the GPU.

std::vector<boost::shared_ptr<opentl::core::cvdata::TextureGpu> > opentl::modalities::ColourHist2D::mShadowTextures [static]

Texture for the object shadow (mask) GPU.