Basic Image AlgorithmS Library
2.8.0
|
#include <OpenCLFramework/Algorithm/clfTrimmedICP.hh>
Public Member Functions | |
void | AddDebugLevel (const long int lv) |
void | AddDebugLevel (const std::string &name) |
clfTrimmedICP (int w=640, int h=480) | |
int | Compute (float nearestDistance, unsigned int numberOfPoints) |
bool | DebugLevelIsSet (const long int lv) const |
bool | DebugLevelIsSet (const std::string &name) const |
int | Fuse (float nearestDistance) |
BIAS::glfVertexBuffer * | GetData () |
int | GetDebugLevel () const |
std::ostream & | GetDebugStream () const |
void | GetDebugStream (std::ostream &os) const |
BIAS::glfVertexBuffer * | GetModel () |
BIAS::ProjectionParametersBase * | GetParams () |
long int | Name2DebugLevel (const std::string &name) const |
looks up a debuglevel in the internal map, returns 0 if not found More... | |
long int | NewDebugLevel (const std::string &name) |
creates a new debuglevel More... | |
void | PrintDebugLevel (std::ostream &os=std::cout) const |
void | RemoveDebugLevel (const long int lv) |
void | RemoveDebugLevel (const std::string &name) |
unsigned int | SetDataFromDepthMap (const BIAS::Camera< float > depthMap, const BIAS::Camera< unsigned char > ampImage) |
void | SetDebugLevel (const long int lv) |
void | SetDebugLevel (const std::string &name) |
void | SetDebugStream (const std::ostream &os) |
void | SetMaxIterations (unsigned int maxiterations) |
unsigned int | SetModelFromDepthMap (const BIAS::Camera< float > depthMap, const BIAS::Camera< unsigned char > ampImage) |
void | ShowDebugLevel (std::ostream &os=std::cout) const |
prints all internally known debuglevels More... | |
~clfTrimmedICP () | |
Static Public Member Functions | |
static bool | comparePairByDistance (icppair a, icppair b) |
static bool | compareVectorByValue (icpvecandval a, icpvecandval b) |
static long int | GetGlobalDebugLevel () |
static void | SetGlobalDebugLevel (long int lev) |
Protected Member Functions | |
int | ComputeNearestPoints_ (float nearestDistance, unsigned int numberOfPoints, float &res) |
int | ComputeOptimalMotion_ (BIAS::Vector3< double > &c, BIAS::RMatrix &R) |
long | ConsumeNextFreeDebuglevel_ () |
returns the next available debuglevel More... | |
unsigned int | setFromDepthMap_ (BIAS::glfVertexBuffer &buffer, const BIAS::Camera< float > depthMap, const BIAS::Camera< unsigned char > ampImage, bool keep=false, bool padData=false) |
Protected Attributes | |
long int | _liDebugLevel |
long int | _liNextDebugLevel |
new concept, debuglevel are managed here in the debug class More... | |
std::map< std::string, long int > | _String2Debuglevel |
BIAS::Vector3< double > | centerA_ |
BIAS::Vector3< double > | centerB_ |
clfContext | context_ |
clfBuffer * | dataBuffer_ |
BIAS::ProjectionParametersBase * | dataParams_ |
unsigned int | datapointcnt_ |
BIAS::glfVertexBuffer | dataPoints_ |
float * | distToSort_ |
int | h_ |
BIAS::Camera< float > | inDepth_ |
BIAS::Camera< unsigned char > | inTex_ |
unsigned int | iterationCounter_ |
float | lasterror_ |
int | maxComputeUnits_ |
unsigned int | maxIterations_ |
clfBuffer * | modelBuffer_ |
BIAS::ProjectionParametersBase * | modelParams_ |
unsigned int | modelpointcnt_ |
BIAS::glfVertexBuffer | modelPoints_ |
unsigned int | numberOfPoints_ |
clfBuffer * | outBuffer_ |
std::vector< icppair > | pairs_ |
clfProgram * | programCL_ |
clfRadixSort | radixsort_ |
unsigned int | sizeofvertex_ |
unsigned int * | sortedidx_ |
BIAS::glfVertexFormat | vertexFormat_ |
int | w_ |
Static Protected Attributes | |
static std::ostream | _zDebugStream |
static long int | GlobalDebugLevel = 0 |
Definition at line 52 of file clfTrimmedICP.hh.
clfTrimmedICP::clfTrimmedICP | ( | int | w = 640 , |
int | h = 480 |
||
) |
Definition at line 25 of file clfTrimmedICP.cpp.
References BIAS::glfVertexFormat::AddAttribute(), BIAS::clfProgram::AddKernel(), BIAS::clfProgram::AddSource(), BIAS::clfBuffer::Allocate(), BIAS::glfVertexFormat::ATTRIB_COLOR, BIAS::glfVertexFormat::ATTRIB_POSITION, BIAS::clfProgram::Build(), context_, BIAS::glfVertexBuffer::Create(), BIAS::clfContext::CreateBuffer(), BIAS::clfContext::CreateProgram(), dataBuffer_, dataPoints_, distToSort_, BIAS::clfContext::GetDeviceInfo(), h_, iterationCounter_, BIAS::clfProgram::KernelSetArgument(), lasterror_, clfDeviceInfo::maxComputeUnits, maxComputeUnits_, maxIterations_, modelBuffer_, modelPoints_, outBuffer_, pairs_, programCL_, sizeofvertex_, sortedidx_, vertexFormat_, and w_.
clfTrimmedICP::~clfTrimmedICP | ( | ) |
Definition at line 62 of file clfTrimmedICP.cpp.
|
inlineinherited |
Definition at line 355 of file Debug.hh.
Referenced by BIAS::GLProjectionParametersBase::AddDebugLevel(), BIAS::Triangulation::CorrectCorrespondences(), BIAS::FilterBase< InputStorageType, OutputStorageType >::FilterBase(), BIAS::ShowCamWxVideoSourceFactory::OpenDevice(), and BIAS::SceneOpenSceneGraph::SceneOpenSceneGraph().
|
inlineinherited |
Definition at line 79 of file clfTrimmedICP.hh.
References BIAS::icppair::distance.
Referenced by ComputeNearestPoints_().
|
inlinestatic |
Definition at line 83 of file clfTrimmedICP.hh.
References BIAS::icpvecandval::value.
Referenced by ComputeOptimalMotion_().
int clfTrimmedICP::Compute | ( | float | nearestDistance, |
unsigned int | numberOfPoints | ||
) |
Definition at line 159 of file clfTrimmedICP.cpp.
References centerA_, centerB_, ComputeNearestPoints_(), ComputeOptimalMotion_(), dataParams_, BIAS::ProjectionParametersBase::GetC(), BIAS::ProjectionParametersBase::GetR(), iterationCounter_, lasterror_, maxIterations_, BIAS::ProjectionParametersBase::SetC(), BIAS::ProjectionParametersBase::SetR(), and BIAS::Vector3< T >::SetZero().
|
protected |
Definition at line 285 of file clfTrimmedICP.cpp.
References BIAS::clfContext::AcquireGLObject(), comparePairByDistance(), context_, dataBuffer_, datapointcnt_, distToSort_, BIAS::clfContext::Finish(), BIAS::clfException::GetDetailedString(), BIAS::clfRadixSort::GetPermutation(), h_, BIAS::clfBuffer::MapBuffer(), maxComputeUnits_, modelBuffer_, numberOfPoints_, outBuffer_, pairs_, programCL_, radixsort_, BIAS::clfRadixSort::RecupGPU(), BIAS::clfContext::ReleaseGLObject(), BIAS::clfContext::RunOn1DRange(), BIAS::clfRadixSort::SetData(), BIAS::clfRadixSort::Sort(), sortedidx_, BIAS::clfMemory::UnMap(), and w_.
Referenced by Compute().
|
protected |
Definition at line 392 of file clfTrimmedICP.cpp.
References BIAS::clfContext::AcquireGLObject(), centerA_, centerB_, compareVectorByValue(), context_, dataBuffer_, datapointcnt_, BIAS::Vector3< T >::DivideIP(), BIAS::clfContext::Finish(), BIAS::Matrix3x3< T >::GetData(), BIAS::Matrix< T >::GetRow(), BIAS::Matrix< T >::GetRows(), BIAS::SVD::GetVT(), BIAS::Matrix3x3< T >::InvertIP(), BIAS::clfBuffer::MapBuffer(), maxComputeUnits_, numberOfPoints_, outBuffer_, pairs_, programCL_, BIAS::clfContext::ReleaseGLObject(), BIAS::clfContext::RunOn1DRange(), BIAS::RMatrixBase::SetFromQuaternion(), BIAS::Matrix3x3< T >::SetZero(), sortedidx_, BIAS::clfMemory::UnMap(), BIAS::icpvecandval::value, and BIAS::icpvecandval::vector.
Referenced by Compute().
|
inlineprotectedinherited |
|
inlineinherited |
Definition at line 341 of file Debug.hh.
Referenced by BIAS::GenSynthMatches::_AddUniformDistributedOutliers(), BIAS::GenSynthMatches::_CreateCamMovement(), BIAS::GenSynthMatches::_CreateStatic2DPoints(), BIAS::UnscentedTransform::ComputeSigmaPoints_(), BIAS::Triangulation::CorrectCorrespondences(), BIAS::GenSynthMatches::GetGTNormalizedF(), BIAS::MonteCarloTransform::GetSamples_(), and BIAS::MonteCarloTransform::Transform().
|
inlineinherited |
int clfTrimmedICP::Fuse | ( | float | nearestDistance | ) |
Definition at line 197 of file clfTrimmedICP.cpp.
|
inline |
Definition at line 64 of file clfTrimmedICP.hh.
|
inlineinherited |
Definition at line 332 of file Debug.hh.
Referenced by BIAS::listenthread(), BIAS::Image< StorageType >::operator=(), and BIAS::ImageBase::operator=().
|
inlineinherited |
|
inlineinherited |
|
inlinestaticinherited |
|
inline |
Definition at line 67 of file clfTrimmedICP.hh.
|
inline |
Definition at line 71 of file clfTrimmedICP.hh.
|
inlineinherited |
|
inlineinherited |
creates a new debuglevel
Definition at line 474 of file Debug.hh.
Referenced by BIAS::COSAC< SolutionType >::COSAC(), BIAS::ProjectionParametersPerspectiveDepth::Init(), BIAS::MonteCarloTransform::MonteCarloTransform(), BIAS::PMatrixEstimation::PMatrixEstimation(), BIAS::PreemptiveRANSAC< SolutionType >::PreemptiveRANSAC(), BIAS::RANSACPreKnowledge< SolutionType >::RANSACPreKnowledge(), BIAS::ROI::ROI(), BIAS::RotationAveraging::RotationAveraging(), BIAS::SceneOpenSceneGraph::SceneOpenSceneGraph(), BIAS::ThreeDOutOpenSceneGraph::ThreeDOutOpenSceneGraph(), BIAS::Triangulation::Triangulation(), and BIAS::UnscentedTransform::UnscentedTransform().
|
inlineinherited |
|
inlineinherited |
|
inlineinherited |
unsigned int clfTrimmedICP::SetDataFromDepthMap | ( | const BIAS::Camera< float > | depthMap, |
const BIAS::Camera< unsigned char > | ampImage | ||
) |
Definition at line 76 of file clfTrimmedICP.cpp.
References BIAS::clfBuffer::AllocateFromVertexBuffer(), context_, BIAS::clfContext::CreateBuffer(), dataBuffer_, dataParams_, datapointcnt_, dataPoints_, BIAS::Projection::GetParameterCloneWithAbsolutePose(), BIAS::Camera< StorageType >::GetProj(), BIAS::clfProgram::KernelSetArgument(), programCL_, and setFromDepthMap_().
|
inlineinherited |
Definition at line 318 of file Debug.hh.
Referenced by BIAS::ShowCamWxVideoSourceFactory::CreateBumbleBee(), BIAS::ShowCamWxVideoSourceFactory::CreateDCAM(), BIAS::VideoSource_MDcam::ScanBus(), BIAS::GLProjectionParametersBase::SetDebugLevel(), BIAS::VideoSource_Disk::VideoSource_Disk(), BIAS::VideoSource_DV2::VideoSource_DV2(), BIAS::VideoSource_DV::VideoSource_DV_Internal_Init_(), and BIAS::VideoSource_V4L::VideoSource_V4L().
|
inlineinherited |
|
inlineinherited |
|
protected |
Definition at line 90 of file clfTrimmedICP.cpp.
References BIAS::HomgPoint3D::GetEuclidean(), BIAS::Image< StorageType >::GetImageDataArray(), BIAS::Projection::GetParameterCloneWithAbsolutePose(), BIAS::Camera< StorageType >::GetProj(), h_, inDepth_, inTex_, lasterror_, BIAS::glfVertexBuffer::Map(), maxComputeUnits_, BIAS::HomgPoint2D::Set(), BIAS::ProjectionParametersPerspectiveDepth::UnDistortDepth(), BIAS::glfVertexBuffer::Unmap(), BIAS::ProjectionParametersBase::UnProjectToPoint(), and w_.
Referenced by SetDataFromDepthMap(), and SetModelFromDepthMap().
|
inlinestaticinherited |
|
inline |
Definition at line 75 of file clfTrimmedICP.hh.
unsigned int clfTrimmedICP::SetModelFromDepthMap | ( | const BIAS::Camera< float > | depthMap, |
const BIAS::Camera< unsigned char > | ampImage | ||
) |
Definition at line 65 of file clfTrimmedICP.cpp.
References BIAS::clfBuffer::AllocateFromVertexBuffer(), context_, BIAS::clfContext::CreateBuffer(), BIAS::Projection::GetParameterCloneWithAbsolutePose(), BIAS::Camera< StorageType >::GetProj(), BIAS::clfProgram::KernelSetArgument(), modelBuffer_, modelParams_, modelpointcnt_, modelPoints_, programCL_, and setFromDepthMap_().
|
inlineinherited |
|
protectedinherited |
Definition at line 510 of file Debug.hh.
Referenced by BIAS::Debug::operator=(), and BIAS::ImageBase::operator=().
|
protectedinherited |
new concept, debuglevel are managed here in the debug class
Definition at line 516 of file Debug.hh.
Referenced by BIAS::Debug::operator=().
|
protectedinherited |
Definition at line 517 of file Debug.hh.
Referenced by BIAS::Debug::operator=().
|
staticprotectedinherited |
Definition at line 511 of file Debug.hh.
Referenced by BIAS::Debug::operator=().
|
protected |
Definition at line 103 of file clfTrimmedICP.hh.
Referenced by Compute(), and ComputeOptimalMotion_().
|
protected |
Definition at line 103 of file clfTrimmedICP.hh.
Referenced by Compute(), and ComputeOptimalMotion_().
|
protected |
Definition at line 110 of file clfTrimmedICP.hh.
Referenced by clfTrimmedICP(), ComputeNearestPoints_(), ComputeOptimalMotion_(), SetDataFromDepthMap(), and SetModelFromDepthMap().
|
protected |
Definition at line 115 of file clfTrimmedICP.hh.
Referenced by clfTrimmedICP(), ComputeNearestPoints_(), ComputeOptimalMotion_(), and SetDataFromDepthMap().
|
protected |
Definition at line 99 of file clfTrimmedICP.hh.
Referenced by Compute(), and SetDataFromDepthMap().
|
protected |
Definition at line 96 of file clfTrimmedICP.hh.
Referenced by ComputeNearestPoints_(), ComputeOptimalMotion_(), and SetDataFromDepthMap().
|
protected |
Definition at line 93 of file clfTrimmedICP.hh.
Referenced by clfTrimmedICP(), and SetDataFromDepthMap().
|
protected |
Definition at line 121 of file clfTrimmedICP.hh.
Referenced by clfTrimmedICP(), and ComputeNearestPoints_().
|
staticprotectedinherited |
|
protected |
Definition at line 108 of file clfTrimmedICP.hh.
Referenced by clfTrimmedICP(), ComputeNearestPoints_(), and setFromDepthMap_().
|
protected |
Definition at line 101 of file clfTrimmedICP.hh.
Referenced by setFromDepthMap_().
|
protected |
Definition at line 102 of file clfTrimmedICP.hh.
Referenced by setFromDepthMap_().
|
protected |
Definition at line 105 of file clfTrimmedICP.hh.
Referenced by clfTrimmedICP(), and Compute().
|
protected |
Definition at line 107 of file clfTrimmedICP.hh.
Referenced by clfTrimmedICP(), Compute(), and setFromDepthMap_().
|
protected |
Definition at line 125 of file clfTrimmedICP.hh.
Referenced by clfTrimmedICP(), ComputeNearestPoints_(), ComputeOptimalMotion_(), and setFromDepthMap_().
|
protected |
Definition at line 105 of file clfTrimmedICP.hh.
Referenced by clfTrimmedICP(), and Compute().
|
protected |
Definition at line 114 of file clfTrimmedICP.hh.
Referenced by clfTrimmedICP(), ComputeNearestPoints_(), and SetModelFromDepthMap().
|
protected |
Definition at line 99 of file clfTrimmedICP.hh.
Referenced by SetModelFromDepthMap().
|
protected |
Definition at line 96 of file clfTrimmedICP.hh.
Referenced by SetModelFromDepthMap().
|
protected |
Definition at line 94 of file clfTrimmedICP.hh.
Referenced by clfTrimmedICP(), and SetModelFromDepthMap().
|
protected |
Definition at line 118 of file clfTrimmedICP.hh.
Referenced by ComputeNearestPoints_(), and ComputeOptimalMotion_().
|
protected |
Definition at line 116 of file clfTrimmedICP.hh.
Referenced by clfTrimmedICP(), ComputeNearestPoints_(), and ComputeOptimalMotion_().
|
protected |
Definition at line 100 of file clfTrimmedICP.hh.
Referenced by clfTrimmedICP(), ComputeNearestPoints_(), and ComputeOptimalMotion_().
|
protected |
Definition at line 112 of file clfTrimmedICP.hh.
Referenced by clfTrimmedICP(), ComputeNearestPoints_(), ComputeOptimalMotion_(), SetDataFromDepthMap(), and SetModelFromDepthMap().
|
protected |
Definition at line 123 of file clfTrimmedICP.hh.
Referenced by ComputeNearestPoints_().
|
protected |
Definition at line 105 of file clfTrimmedICP.hh.
Referenced by clfTrimmedICP().
|
protected |
Definition at line 120 of file clfTrimmedICP.hh.
Referenced by clfTrimmedICP(), ComputeNearestPoints_(), and ComputeOptimalMotion_().
|
protected |
Definition at line 95 of file clfTrimmedICP.hh.
Referenced by clfTrimmedICP().
|
protected |
Definition at line 108 of file clfTrimmedICP.hh.
Referenced by clfTrimmedICP(), ComputeNearestPoints_(), and setFromDepthMap_().