opentl::modalities::BackgroundSub Class Reference

GPU-based foreground/background segmentation modality. More...

Inherits opentl::modalities::Modality.

List of all members.

Public Types
Public Member Functions
	BackgroundSub (const BackgroundSub &b)
	Copy Constructor.
	BackgroundSub (opentl::modelprojection::Warp *warp, opentl::modelprojection::GLRenderer *GLRender, int camIdx)
	Modality for background subtraction and matching purpose.
virtual modalities::Modality *	clone () const
	Clone the current instance.
const opentl::core::cvdata::Image &	getSegmentationImage ()
virtual void	init ()
	Needed init() method for parameter handling.
virtual int	matchPixLevel (const TargetPtrVector &targets, T_MEAS_PIXPtrVector &outputMeas, std::size_t partitionIdx)
	Matching on pixel level compare pixel-level image data with expected map, by projecting model data under a predicted state.
virtual int	preProcess (const opentl::core::cvdata::Image &image, const std::vector< std::vector< int > > &preProcessROIs)
	Preprocessing and segmentation in order to get model free unassociated data.
void	updateBackgroundModel (const opentl::core::cvdata::Image &image)
	Samples from a reference image, since this is a static background segmentation Only needed for the GPU background subtractor.
virtual	~BackgroundSub ()
	Destructor.

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Detailed Description

GPU-based foreground/background segmentation modality.

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Member Enumeration Documentation

enum opentl::modalities::BackgroundSub::OfflineParameters

Enumerator:

matchUsingIntegralImage	(bool) Whether to compute and use the integral image of Z, for faster residual computation (default: false)
matchPixUsingResidualImage	(bool) Whether to compute the residual image or a scalar (= pixel count) (default: false)
useGPU	(bool) Whether to use the GPU-based background subtractor or the CPU one (default: true)
preProcessBackgroundSubGPUParam	cvprocess::BackgroundSubGPU::Param --- will be removed !
preProcessBackgroundSubParam	cvprocess::BackgroundSub::Param --- will be removed !
OFFLINE_COUNT

Reimplemented from opentl::modalities::Modality.

enum opentl::modalities::BackgroundSub::OnlineParameters

Enumerator:

matchPixelRInvVariance	(double) Inverse variance of pixel-level measurement (default: 1.0)
preProcess_waitForFinished	(bool) Parameter passed on to the GPU background subtraction class (default: false)
ONLINE_COUNT

Reimplemented from opentl::modalities::Modality.

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Constructor & Destructor Documentation

opentl::modalities::BackgroundSub::BackgroundSub	(	opentl::modelprojection::Warp *	warp,
		opentl::modelprojection::GLRenderer *	GLRender,
		int	camIdx
	)

Modality for background subtraction and matching purpose.

Parameters:

	warp	global instance of a warp class
	GLRender	global instance of a GLRenderer class
	camIdx	camera index
	param	Additional parameters for the background subtractor

opentl::modalities::BackgroundSub::BackgroundSub

(

const BackgroundSub &

b

)

Copy Constructor.

Parameters:

b

Source BackgroundSub instance

virtual opentl::modalities::BackgroundSub::~BackgroundSub

(

)

[virtual]

Destructor.

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Member Function Documentation

virtual modalities::Modality* opentl::modalities::BackgroundSub::clone

(

)

const [virtual]

Clone the current instance.

Returns:

Pointer to a newly created identical instance

Implements opentl::modalities::Modality.

const opentl::core::cvdata::Image& opentl::modalities::BackgroundSub::getSegmentationImage

(

)

virtual void opentl::modalities::BackgroundSub::init

(

)

[virtual]

Needed init() method for parameter handling.

Reimplemented from opentl::modalities::Modality.

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

Matching on pixel level

• compare pixel-level image data with expected map, by projecting model data under a predicted state.

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

Preprocessing and segmentation in order to get model free unassociated data.

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.

void opentl::modalities::BackgroundSub::updateBackgroundModel

(

const opentl::core::cvdata::Image &

image

)

Samples from a reference image, since this is a static background segmentation Only needed for the GPU background subtractor.

Parameters:

image

Reference image