visual-tracking-control
Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
VisualUpdateParticles Class Reference

#include <VisualUpdateParticles.h>

Inheritance diagram for VisualUpdateParticles:
[legend]

Public Member Functions

 VisualUpdateParticles (std::unique_ptr< VisualProprioception > observation_model) noexcept
 
 VisualUpdateParticles (std::unique_ptr< VisualProprioception > observation_model, const double likelihood_gain) noexcept
 
 VisualUpdateParticles (std::unique_ptr< VisualProprioception > observation_model, const double likelihood_gain, const int num_cuda_stream) noexcept
 
 ~VisualUpdateParticles () noexcept
 
void innovation (const Eigen::Ref< const Eigen::MatrixXf > &pred_states, cv::InputArray measurements, Eigen::Ref< Eigen::MatrixXf > innovations) override
 
double likelihood (const Eigen::Ref< const Eigen::MatrixXf > &innovations) override
 
bfl::VisualObservationModel & getVisualObservationModel () override
 
void setVisualObservationModel (std::unique_ptr< bfl::VisualObservationModel > visual_observation_model) override
 

Protected Member Functions

void correctStep (const Eigen::Ref< const Eigen::MatrixXf > &pred_states, const Eigen::Ref< const Eigen::VectorXf > &pred_weights, cv::InputArray measurements, Eigen::Ref< Eigen::MatrixXf > cor_states, Eigen::Ref< Eigen::VectorXf > cor_weights) override
 

Protected Attributes

std::unique_ptr< VisualProprioception > observation_model_
 
double likelihood_gain_
 
cv::Ptr< cv::cuda::HOG > cuda_hog_
 
const int num_cuda_stream_
 
const int num_img_stream_
 
std::vector< cv::cuda::Stream > cuda_stream_
 
std::vector< cv::Mat > hand_rendered_
 
std::vector< cv::cuda::GpuMat > cuda_img_
 
std::vector< cv::cuda::GpuMat > cuda_img_alpha_
 
std::vector< cv::cuda::GpuMat > cuda_descriptors_
 
std::vector< cv::Mat > cpu_descriptors_
 

Detailed Description

Definition at line 16 of file VisualUpdateParticles.h.

Constructor & Destructor Documentation

◆ VisualUpdateParticles() [1/3]

VisualUpdateParticles::VisualUpdateParticles ( std::unique_ptr< VisualProprioception >  observation_model)
noexcept

Definition at line 21 of file VisualUpdateParticles.cpp.

◆ VisualUpdateParticles() [2/3]

VisualUpdateParticles::VisualUpdateParticles ( std::unique_ptr< VisualProprioception >  observation_model,
const double  likelihood_gain 
)
noexcept

Definition at line 25 of file VisualUpdateParticles.cpp.

◆ VisualUpdateParticles() [3/3]

VisualUpdateParticles::VisualUpdateParticles ( std::unique_ptr< VisualProprioception >  observation_model,
const double  likelihood_gain,
const int  num_cuda_stream 
)
noexcept

Definition at line 29 of file VisualUpdateParticles.cpp.

◆ ~VisualUpdateParticles()

VisualUpdateParticles::~VisualUpdateParticles ( )
noexcept

Definition at line 60 of file VisualUpdateParticles.cpp.

Member Function Documentation

◆ correctStep()

void VisualUpdateParticles::correctStep ( const Eigen::Ref< const Eigen::MatrixXf > &  pred_states,
const Eigen::Ref< const Eigen::VectorXf > &  pred_weights,
cv::InputArray  measurements,
Eigen::Ref< Eigen::MatrixXf >  cor_states,
Eigen::Ref< Eigen::VectorXf >  cor_weights 
)
overrideprotected

Definition at line 125 of file VisualUpdateParticles.cpp.

◆ getVisualObservationModel()

bfl::VisualObservationModel & VisualUpdateParticles::getVisualObservationModel ( )
override

Definition at line 109 of file VisualUpdateParticles.cpp.

◆ innovation()

void VisualUpdateParticles::innovation ( const Eigen::Ref< const Eigen::MatrixXf > &  pred_states,
cv::InputArray  measurements,
Eigen::Ref< Eigen::MatrixXf >  innovations 
)
override

Definition at line 63 of file VisualUpdateParticles.cpp.

◆ likelihood()

double VisualUpdateParticles::likelihood ( const Eigen::Ref< const Eigen::MatrixXf > &  innovations)
override

Definition at line 103 of file VisualUpdateParticles.cpp.

◆ setVisualObservationModel()

void VisualUpdateParticles::setVisualObservationModel ( std::unique_ptr< bfl::VisualObservationModel >  visual_observation_model)
override

Definition at line 115 of file VisualUpdateParticles.cpp.

Member Data Documentation

◆ cpu_descriptors_

std::vector<cv::Mat> VisualUpdateParticles::cpu_descriptors_
protected

Definition at line 51 of file VisualUpdateParticles.h.

◆ cuda_descriptors_

std::vector<cv::cuda::GpuMat> VisualUpdateParticles::cuda_descriptors_
protected

Definition at line 50 of file VisualUpdateParticles.h.

◆ cuda_hog_

cv::Ptr<cv::cuda::HOG> VisualUpdateParticles::cuda_hog_
protected

Definition at line 42 of file VisualUpdateParticles.h.

◆ cuda_img_

std::vector<cv::cuda::GpuMat> VisualUpdateParticles::cuda_img_
protected

Definition at line 48 of file VisualUpdateParticles.h.

◆ cuda_img_alpha_

std::vector<cv::cuda::GpuMat> VisualUpdateParticles::cuda_img_alpha_
protected

Definition at line 49 of file VisualUpdateParticles.h.

◆ cuda_stream_

std::vector<cv::cuda::Stream> VisualUpdateParticles::cuda_stream_
protected

Definition at line 46 of file VisualUpdateParticles.h.

◆ hand_rendered_

std::vector<cv::Mat> VisualUpdateParticles::hand_rendered_
protected

Definition at line 47 of file VisualUpdateParticles.h.

◆ likelihood_gain_

double VisualUpdateParticles::likelihood_gain_
protected

Definition at line 40 of file VisualUpdateParticles.h.

◆ num_cuda_stream_

const int VisualUpdateParticles::num_cuda_stream_
protected

Definition at line 44 of file VisualUpdateParticles.h.

◆ num_img_stream_

const int VisualUpdateParticles::num_img_stream_
protected

Definition at line 45 of file VisualUpdateParticles.h.

◆ observation_model_

std::unique_ptr<VisualProprioception> VisualUpdateParticles::observation_model_
protected

Definition at line 39 of file VisualUpdateParticles.h.

The documentation for this class was generated from the following files:
Generated by   doxygen 1.8.13