Projecting vertices to image planeFinding contour of the projected in current frame.Segment the current FrameSample vertices near to contour.Statistic the histogram of the region around verticesCompute posterior and draw statistic img.- Compute and optimize the enery fuction.
- Eigen
- Sophus: pose processing
- Opencv: img processing
- glog
1. LoadImg(File *file,Type type);
2. GettingContour(Model model,Frame frame);
3. GettingVerticesNearToContour(Model model,Contour contour);
4. UpdateHistorgram(Frame curFrame,VerticesNearToContour)
5. ComputePosterior(Histogram historgram);
6. ....(Energy Optimization)
class Frame
{
cv::Mat *img;
SE3D dpose;
SE3D grondTruthPose;
unsigned int index;
}