List of all members | Public Member Functions | Public Attributes
CHandLocalisation Class Reference

#include <VisionX/vision_algorithms/HandLocalizationWithFingertips/HandLocalisation.h>

Public Member Functions

 CHandLocalisation (int nNumParticles, int nNumAnnealingRuns, int nPredictionMode, CStereoCalibration *pCalibration, std::string sHandModelFileName)
 
std::vector< Vec3d > GetFingertipPositions ()
 
Eigen::Matrix4f GetHandPose ()
 
double * GetResultConfig ()
 
double * GetSensorConfig ()
 
void LocaliseHand (const CByteImage *pNewCamImageLeft, const CByteImage *pNewCamImageRight, const double *pSensorConfig, double *pEstimatedConfig, double &dConfidenceRating)
 
void LocaliseHand (const CByteImage *pNewCamImageLeft, const CByteImage *pNewCamImageRight, const Vec3d vPositionFromSensors, const Mat3d mOrientationFromSensors, const double *pSensorConfigFingers, double *pEstimatedConfig, double &dConfidenceRating)
 
void SetParticleVarianceFactor (double dNewFactor=1.0)
 
void SetResultConfig (const Vec3d vPosition, const Mat3d mOrientation, const double *pConfigFingers)
 
void SetSensorConfig (const Vec3d vPosition, const Mat3d mOrientation, const double *pConfigFingers)
 
 ~CHandLocalisation ()
 

Public Attributes

CByteImage * m_pColorFilteredImageLeft
 
CByteImage * m_pColorFilteredImageRight
 
CByteImage * m_pSobelImageLeft
 
CByteImage * m_pSobelImageRight
 
CByteImage * m_pTrackingBallImageLeft
 
CByteImage * m_pTrackingBallImageRight
 

Detailed Description

Definition at line 72 of file HandLocalisation.h.

Constructor & Destructor Documentation

◆ CHandLocalisation()

CHandLocalisation ( int  nNumParticles,
int  nNumAnnealingRuns,
int  nPredictionMode,
CStereoCalibration *  pCalibration,
std::string  sHandModelFileName 
)

Definition at line 56 of file HandLocalisation.cpp.

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◆ ~CHandLocalisation()

~CHandLocalisation ( )

Definition at line 128 of file HandLocalisation.cpp.

Member Function Documentation

◆ GetFingertipPositions()

std::vector< Vec3d > GetFingertipPositions ( )

Definition at line 240 of file HandLocalisation.cpp.

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◆ GetHandPose()

Eigen::Matrix4f GetHandPose ( )

Definition at line 205 of file HandLocalisation.cpp.

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◆ GetResultConfig()

double * GetResultConfig ( )

Definition at line 265 of file HandLocalisation.cpp.

◆ GetSensorConfig()

double * GetSensorConfig ( )

Definition at line 299 of file HandLocalisation.cpp.

◆ LocaliseHand() [1/2]

void LocaliseHand ( const CByteImage *  pNewCamImageLeft,
const CByteImage *  pNewCamImageRight,
const double *  pSensorConfig,
double *  pEstimatedConfig,
double &  dConfidenceRating 
)

Definition at line 333 of file HandLocalisation.cpp.

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◆ LocaliseHand() [2/2]

void LocaliseHand ( const CByteImage *  pNewCamImageLeft,
const CByteImage *  pNewCamImageRight,
const Vec3d  vPositionFromSensors,
const Mat3d  mOrientationFromSensors,
const double *  pSensorConfigFingers,
double *  pEstimatedConfig,
double &  dConfidenceRating 
)

Definition at line 183 of file HandLocalisation.cpp.

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◆ SetParticleVarianceFactor()

void SetParticleVarianceFactor ( double  dNewFactor = 1.0)
inline

Definition at line 87 of file HandLocalisation.h.

◆ SetResultConfig()

void SetResultConfig ( const Vec3d  vPosition,
const Mat3d  mOrientation,
const double *  pConfigFingers 
)

Definition at line 279 of file HandLocalisation.cpp.

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◆ SetSensorConfig()

void SetSensorConfig ( const Vec3d  vPosition,
const Mat3d  mOrientation,
const double *  pConfigFingers 
)

Definition at line 313 of file HandLocalisation.cpp.

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Member Data Documentation

◆ m_pColorFilteredImageLeft

CByteImage* m_pColorFilteredImageLeft

Definition at line 92 of file HandLocalisation.h.

◆ m_pColorFilteredImageRight

CByteImage* m_pColorFilteredImageRight

Definition at line 93 of file HandLocalisation.h.

◆ m_pSobelImageLeft

CByteImage* m_pSobelImageLeft

Definition at line 94 of file HandLocalisation.h.

◆ m_pSobelImageRight

CByteImage* m_pSobelImageRight

Definition at line 95 of file HandLocalisation.h.

◆ m_pTrackingBallImageLeft

CByteImage* m_pTrackingBallImageLeft

Definition at line 96 of file HandLocalisation.h.

◆ m_pTrackingBallImageRight

CByteImage* m_pTrackingBallImageRight

Definition at line 97 of file HandLocalisation.h.

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