visp.python.rbt.xfeat.XFeatPoseEstimator.XFeatViewPointPoseEstimator.ViewPointMatcher Class Reference

Public Member Functions
	__init__ (self, LevenbergMarquardtParameters optim_params)
	save (self, Path path)
bool	load (self, Path path, int view_id)
	match_and_score (self, cam, XFeatBackend backend, current_repr)
	optimize_3d (self, depth, threshold)
	optimize_2d (self, cam, threshold)
Tuple[HomogeneousMatrix, bool]	optimize (self, use_3d, threshold, CameraParameters cam=None, depth=None)
	display_record (self, ImageRGBa image, cTo, CameraParameters cam)
	display_result (self, image, cMo, cam)
	compute_residual (self, cMo, cam)

Static Public Member Functions
	reformat_repr_if_needed (r)

Public Attributes
	pose = None
	view_id = None
bool	points_3d = None
	descriptors = None
dict	representation = {}
	optim_params = optim_params
	idx_curr_matches
	idx_stored_matches = backend.match(current_repr['descriptors'], self.representation['descriptors'])
bool	matched_p3d = self.points_3d[self.idx_stored_matches].copy()
	matched_obs = kps_curr[self.idx_curr_matches.cpu().numpy()]
	matched_obs_x
	matched_obs_y = PixelMeterConversion.convertPoints(cam, self.matched_obs[:, 0], self.matched_obs[:, 1])
	error = np.mean(res)

Detailed Description

Definition at line 63 of file XFeatPoseEstimator.py.

Constructor & Destructor Documentation

__init__()

visp.python.rbt.xfeat.XFeatPoseEstimator.XFeatViewPointPoseEstimator.ViewPointMatcher.__init__	(		self,
		LevenbergMarquardtParameters	optim_params )

Definition at line 64 of file XFeatPoseEstimator.py.

Member Function Documentation

compute_residual()

visp.python.rbt.xfeat.XFeatPoseEstimator.XFeatViewPointPoseEstimator.ViewPointMatcher.compute_residual	(		self,
			cMo,
			cam )

Definition at line 255 of file XFeatPoseEstimator.py.

References matched_obs.

display_record()

visp.python.rbt.xfeat.XFeatPoseEstimator.XFeatViewPointPoseEstimator.ViewPointMatcher.display_record	(		self,
		ImageRGBa	image,
			cTo,
		CameraParameters	cam )

Definition at line 194 of file XFeatPoseEstimator.py.

References points_3d, camera_calibration_show_extrinsics.PoseVector.pose, and pose.

display_result()

visp.python.rbt.xfeat.XFeatPoseEstimator.XFeatViewPointPoseEstimator.ViewPointMatcher.display_result	(		self,
			image,
			cMo,
			cam )

Definition at line 215 of file XFeatPoseEstimator.py.

References matched_obs, matched_obs_x, matched_obs_y, matched_p3d, camera_calibration_show_extrinsics.PoseVector.pose, and pose.

load()

bool visp.python.rbt.xfeat.XFeatPoseEstimator.XFeatViewPointPoseEstimator.ViewPointMatcher.load	(		self,
		Path	path,
		int	view_id )

Definition at line 88 of file XFeatPoseEstimator.py.

References points_3d, camera_calibration_show_extrinsics.PoseVector.pose, pose, representation, and view_id.

match_and_score()

visp.python.rbt.xfeat.XFeatPoseEstimator.XFeatViewPointPoseEstimator.ViewPointMatcher.match_and_score	(		self,
			cam,
		XFeatBackend	backend,
			current_repr )

Definition at line 119 of file XFeatPoseEstimator.py.

optimize()

Tuple[HomogeneousMatrix, bool] visp.python.rbt.xfeat.XFeatPoseEstimator.XFeatViewPointPoseEstimator.ViewPointMatcher.optimize	(		self,
			use_3d,
			threshold,
		CameraParameters	cam = None,
			depth = None )

Definition at line 186 of file XFeatPoseEstimator.py.

References optimize_2d(), and optimize_3d().

optimize_2d()

visp.python.rbt.xfeat.XFeatPoseEstimator.XFeatViewPointPoseEstimator.ViewPointMatcher.optimize_2d	(		self,
			cam,
			threshold )

Definition at line 157 of file XFeatPoseEstimator.py.

References visp.python.rbt.xfeat.RBXFeatFeatureTracker.RBXFeatFeatureTracker.error, error, matched_obs, matched_obs_x, matched_obs_y, matched_p3d, optim_params, camera_calibration_show_extrinsics.PoseVector.pose, and pose.

Referenced by optimize().

optimize_3d()

visp.python.rbt.xfeat.XFeatPoseEstimator.XFeatViewPointPoseEstimator.ViewPointMatcher.optimize_3d	(		self,
			depth,
			threshold )

Definition at line 133 of file XFeatPoseEstimator.py.

References matched_obs, matched_obs_x, matched_obs_y, matched_p3d, optim_params, camera_calibration_show_extrinsics.PoseVector.pose, and pose.

Referenced by optimize().

reformat_repr_if_needed()

visp.python.rbt.xfeat.XFeatPoseEstimator.XFeatViewPointPoseEstimator.ViewPointMatcher.reformat_repr_if_needed ( r )

static

Definition at line 105 of file XFeatPoseEstimator.py.

save()

visp.python.rbt.xfeat.XFeatPoseEstimator.XFeatViewPointPoseEstimator.ViewPointMatcher.save	(		self,
		Path	path )

Definition at line 73 of file XFeatPoseEstimator.py.

References points_3d, camera_calibration_show_extrinsics.PoseVector.pose, pose, representation, and view_id.

Member Data Documentation

descriptors

visp.python.rbt.xfeat.XFeatPoseEstimator.XFeatViewPointPoseEstimator.ViewPointMatcher.descriptors = None

Definition at line 68 of file XFeatPoseEstimator.py.

Referenced by visp.python.vision.xfeat.XFeatBackend.XFeatRepresentation.copy(), visp.python.vision.xfeat.XFeatBackend.XFeatRepresentation.merged_with(), and visp.python.vision.xfeat.XFeatBackend.XFeatRepresentation.split().

error

visp.python.rbt.xfeat.XFeatPoseEstimator.XFeatViewPointPoseEstimator.ViewPointMatcher.error = np.mean(res)

Definition at line 154 of file XFeatPoseEstimator.py.

Referenced by yolo-centering-task-afma6.VSPlot.generate_anim(), yolo-centering-task.VSPlot.generate_anim(), yolo-centering-task-afma6.VSPlot.on_iter(), yolo-centering-task.VSPlot.on_iter(), and optimize_2d().

idx_curr_matches

visp.python.rbt.xfeat.XFeatPoseEstimator.XFeatViewPointPoseEstimator.ViewPointMatcher.idx_curr_matches

Definition at line 120 of file XFeatPoseEstimator.py.

idx_stored_matches

visp.python.rbt.xfeat.XFeatPoseEstimator.XFeatViewPointPoseEstimator.ViewPointMatcher.idx_stored_matches = backend.match(current_repr['descriptors'], self.representation['descriptors'])

Definition at line 120 of file XFeatPoseEstimator.py.

matched_obs

visp.python.rbt.xfeat.XFeatPoseEstimator.XFeatViewPointPoseEstimator.ViewPointMatcher.matched_obs = kps_curr[self.idx_curr_matches.cpu().numpy()]

Definition at line 128 of file XFeatPoseEstimator.py.

Referenced by compute_residual(), display_result(), optimize_2d(), and optimize_3d().

matched_obs_x

visp.python.rbt.xfeat.XFeatPoseEstimator.XFeatViewPointPoseEstimator.ViewPointMatcher.matched_obs_x

Definition at line 129 of file XFeatPoseEstimator.py.

Referenced by display_result(), optimize_2d(), and optimize_3d().

matched_obs_y

visp.python.rbt.xfeat.XFeatPoseEstimator.XFeatViewPointPoseEstimator.ViewPointMatcher.matched_obs_y = PixelMeterConversion.convertPoints(cam, self.matched_obs[:, 0], self.matched_obs[:, 1])

Definition at line 129 of file XFeatPoseEstimator.py.

Referenced by display_result(), optimize_2d(), and optimize_3d().

matched_p3d

visp.python.rbt.xfeat.XFeatPoseEstimator.XFeatViewPointPoseEstimator.ViewPointMatcher.matched_p3d = self.points_3d[self.idx_stored_matches].copy()

Definition at line 127 of file XFeatPoseEstimator.py.

Referenced by display_result(), optimize_2d(), and optimize_3d().

optim_params

visp.python.rbt.xfeat.XFeatPoseEstimator.XFeatViewPointPoseEstimator.ViewPointMatcher.optim_params = optim_params

Definition at line 70 of file XFeatPoseEstimator.py.

Referenced by visp.python.rbt.xfeat.XFeatVisualOdometry.XFeatVisualOdometry.load_settings(), optimize_2d(), optimize_3d(), and visp.python.rbt.xfeat.XFeatPoseEstimator.XFeatViewPointPoseEstimator.record().

points_3d

visp.python.rbt.xfeat.XFeatPoseEstimator.XFeatViewPointPoseEstimator.ViewPointMatcher.points_3d = None

Definition at line 67 of file XFeatPoseEstimator.py.

Referenced by display_record(), load(), and save().

pose

visp.python.rbt.xfeat.XFeatPoseEstimator.XFeatViewPointPoseEstimator.ViewPointMatcher.pose = None

Definition at line 65 of file XFeatPoseEstimator.py.

Referenced by display_record(), display_result(), load(), optimize_2d(), optimize_3d(), and save().

representation

dict visp.python.rbt.xfeat.XFeatPoseEstimator.XFeatViewPointPoseEstimator.ViewPointMatcher.representation = {}

Definition at line 69 of file XFeatPoseEstimator.py.

Referenced by load(), and save().

view_id

visp.python.rbt.xfeat.XFeatPoseEstimator.XFeatViewPointPoseEstimator.ViewPointMatcher.view_id = None

Definition at line 66 of file XFeatPoseEstimator.py.

Referenced by load(), and save().