kjb::Edge_lines_likelihood Class Reference

#include <edge_lines_likelihood.h>

Public Member Functions
	Edge_lines_likelihood (const Edge_segment_set &iimage_edge_segments, double angle_sigma, double dist_sigma, double prob_of_missing, double prob_of_noise, double max_distance, double max_angle, double collinear_distance_threshold)
	Constructs a new Edge_lines_likelihood. More...
template<class T >
double	compute_likelihood (T &model)
template<class T , class U >
double	compute_likelihood (T &model, U &camera)
	Template function to compute the likelihood for a generic model under a given camera. The input model, with the camera, must be able to generate a model map and a set of model edges, or an edgeset (those are the two kind of features we can compute a likelihood for so far). Most of the time, you will likely write a specialization for this function, this is mostly a guideline. More...
double	operator() (std::vector< Model_edge > &model_edges)
	Calculates and return the likelihood for a set of model edges. More...
void	draw_correspondence (Image &model_edge_image, Image &data_edge_image, const std::vector< Model_edge > &model_edges, double width)

Constructor & Destructor Documentation

Edge_lines_likelihood::Edge_lines_likelihood	(	const Edge_segment_set &	iimage_edge_segments,
		double	angle_sigma,
		double	dist_sigma,
		double	prob_of_missing,
		double	prob_of_noise,
		double	max_distance,
		double	max_angle,
		double	collinear_distance_threshold
	)

Constructs a new Edge_lines_likelihood.

Parameters

dist_sigma	The standard diviation of the probility density function of the distance between the middle point of the image edge segment and the model edge
angle_sigma	The sstandard diviation of the probability density function of the angle between the image edge segment and the model edge
prob_of_missing	The probability of an edge element being missing
prob_of_noise	The probability of an edge element being noise
max_distance	The maximum distance allows to edge segments of a model edge within

Member Function Documentation

template<class T >

double kjb::Edge_lines_likelihood::compute_likelihood

(

T &

model

)

Template function to compute the likelihood for a generic model. The input model must generate a set of of model edges,

Parameters

model

The model to compute the likelihood for

Template function to compute the likelihood for a generic model. The input model must be able to generate a model map and a set of model edges, or an edgeset (those are the two kind of features we can compute a likelihood for so far). Most of the time, you will likely write a specialization for this function, this is mostly a guideline

Parameters

model	The model to compute the likelihood for
mode	Mode for likelihood computation. 0 means that the likelihood will be computed by generating a model map and a set of edges from the model and the camera, 1 means that we will generate a set of edge points.

template<class T , class U >

double kjb::Edge_lines_likelihood::compute_likelihood	(	T &	model,
		U &	camera
	)

Template function to compute the likelihood for a generic model under a given camera. The input model, with the camera, must be able to generate a model map and a set of model edges, or an edgeset (those are the two kind of features we can compute a likelihood for so far). Most of the time, you will likely write a specialization for this function, this is mostly a guideline.

Parameters

model	The model to compute the likelihood for
camera	The camera to be used to render the model
mode	Mode for likelihood computation. 0 means that the likelihood will be computed by generating a model map and a set of edges from the model and the camera, 1 means that we will generate a set of edge points.

void Edge_lines_likelihood::draw_correspondence	(	Image &	model_edge_image,
		Image &	data_edge_image,
		const std::vector< Model_edge > &	model_edges,
		double	width
	)

double Edge_lines_likelihood::operator()

(

std::vector< Model_edge > &

model_edges

)

Calculates and return the likelihood for a set of model edges.

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The documentation for this class was generated from the following files:

• /work/kobus/src/lib/likelihood_cpp/edge_lines_likelihood.h
• /work/kobus/src/lib/likelihood_cpp/edge_lines_likelihood.cpp