#include <visp3/rbt/vpRBSilhouetteCCDTracker.h>

Public Member Functions
	vpCCDParameters ()

	~vpCCDParameters ()=default

Public Attributes
double	gamma_1

double	gamma_2

double	gamma_3

double	gamma_4

double	alpha

double	beta

double	kappa

double	covarianceIterDecreaseFactor

int	h

int	delta_h

int	phi_dim

Detailed Description

Definition at line 73 of file vpRBSilhouetteCCDTracker.h.

Constructor & Destructor Documentation

◆ vpCCDParameters()

vpCCDParameters::vpCCDParameters ( )

inline

Definition at line 76 of file vpRBSilhouetteCCDTracker.h.

◆ ~vpCCDParameters()

vpCCDParameters::~vpCCDParameters ( )

default

Member Data Documentation

◆ alpha

double vpCCDParameters::alpha

Definition at line 101 of file vpRBSilhouetteCCDTracker.h.

Referenced by vpRBSilhouetteCCDTracker::computeLocalStatistics().

◆ beta

double vpCCDParameters::beta

Definition at line 102 of file vpRBSilhouetteCCDTracker.h.

◆ covarianceIterDecreaseFactor

double vpCCDParameters::covarianceIterDecreaseFactor

From the CCD paper: maximum decrease of the covariance within one iteration step. Between 0 and 1 If c2 is too high, the covariance declines slowly. Hence, a small number of iterations is necessary. If c2 is too small, the CCD algorithm may converge to a wrong solution. it is recommended to leave this value fixed.

Definition at line 120 of file vpRBSilhouetteCCDTracker.h.

Referenced by vpRBSilhouetteCCDTracker::computeErrorAndInteractionMatrix().

◆ delta_h

int vpCCDParameters::delta_h

Sample step when computing statistics and errors. Increase this value to decrease computation time, at the risk of obtaining inacurrate statistics.

Definition at line 133 of file vpRBSilhouetteCCDTracker.h.

Referenced by vpRBSilhouetteCCDTracker::computeErrorAndInteractionMatrix(), vpRBSilhouetteCCDTracker::computeLocalStatistics(), vpRBSilhouetteCCDTracker::display(), and vpRBSilhouetteCCDTracker::initVVS().

◆ gamma_1

double vpCCDParameters::gamma_1

Curve uncertainty computation hyperparameter Recommended to leave fixed.

Definition at line 85 of file vpRBSilhouetteCCDTracker.h.

Referenced by vpRBSilhouetteCCDTracker::computeLocalStatistics().

◆ gamma_2

double vpCCDParameters::gamma_2

Curve uncertainty computation hyperparameter Recommended to leave fixed.

Definition at line 90 of file vpRBSilhouetteCCDTracker.h.

Referenced by vpRBSilhouetteCCDTracker::computeLocalStatistics().

◆ gamma_3

double vpCCDParameters::gamma_3

Curve uncertainty computation hyperparameter Recommended to leave fixed.

Definition at line 95 of file vpRBSilhouetteCCDTracker.h.

Referenced by vpRBSilhouetteCCDTracker::computeLocalStatistics().

◆ gamma_4

double vpCCDParameters::gamma_4

Curve uncertainty computation hyperparameter Recommended to leave fixed.

Definition at line 100 of file vpRBSilhouetteCCDTracker.h.

Referenced by vpRBSilhouetteCCDTracker::computeLocalStatistics().

◆ h

int vpCCDParameters::h

Size of the vicinity that is used to compute statistics and error. Length of the line along the normal (and the opposite direction). To subsample the line, set delta_h > 1. Number of pixels used is computed as 2 * floor(h/delta_h). If you expect large motions, set a large value. If you want to reduce computation time, decrease this value or increase delta_h Recommended value: 4 or above (this is dependent on image resolution)

Definition at line 128 of file vpRBSilhouetteCCDTracker.h.

Referenced by vpRBSilhouetteCCDTracker::computeErrorAndInteractionMatrix(), vpRBSilhouetteCCDTracker::computeLocalStatistics(), vpRBSilhouetteCCDTracker::computeMaskGradient(), vpRBSilhouetteCCDTracker::display(), vpRBSilhouetteCCDTracker::extractFeatures(), and vpRBSilhouetteCCDTracker::initVVS().