od::l2d::ODCADRecognizer2DLocal Class Reference

Simple RANSAC based 3D object recognizer. More...

#include <ODCADRecognizer2DLocal.h>

Inheritance diagram for od::l2d::ODCADRecognizer2DLocal:

Collaboration diagram for od::l2d::ODCADRecognizer2DLocal:

Public Member Functions
string const &	getCameraIntrinsicFile () const
void	setCameraIntrinsicFile (string const &camera_intrinsic_file)
int	getNumKeyPoints () const
void	setNumKeyPoints (int numKeyPoints)
float	getRatioTest () const
void	setRatioTest (float ratioTest)
bool	isFast_match () const
void	setFast_match (bool fast_match)
bool	isUse_gpu () const
void	setUse_gpu (bool use_gpu)
bool	isUse_gpu_match () const
void	setUse_gpu_match (bool use_gpu_match)
bool	isMetainfo () const
void	setMetainfo (bool metainfo)
int	getIterationsCount () const
void	setIterationsCount (int iterationsCount)
float	getReprojectionError () const
void	setReprojectionError (float reprojectionError)
double	getConfidence () const
void	setConfidence (double confidence)
int	getMinInliers () const
void	setMinInliers (int minInliers)
int	getPnpMethod () const
void	setPnpMethod (int pnpMethod)
	ODCADRecognizer2DLocal (string const &trained_data_location_=0)
void	parseParameterString (string parameter_string)
void	init ()
ODDetections *	detect (ODSceneImage *scene)
	Function for performing detection on a segmented scene. More...
ODDetections3D *	detectOmni (ODSceneImage *scene)
	Function for performing detection on an entire scene. More...
Public Member Functions inherited from od::l2d::ODImageLocalMatchingDetector
	ODImageLocalMatchingDetector (std::string const &training_data_location_)
Public Member Functions inherited from od::ODDetector2DComplete
	ODDetector2DComplete (std::string const &trained_data_location_)
Public Member Functions inherited from od::ODDetector
	ODDetector (std::string const &training_data_location_)
virtual ODDetections *	detect (ODScene *scene)
virtual ODDetections *	detectOmni (ODScene *scene)
Public Member Functions inherited from od::ODDetectorCommon
	ODDetectorCommon (std::string const &trained_data_location_="")
std::string	getTrainingInputLocation () const
	Gets/Sets the directory containing the data for training. More...
void	setTrainingInputLocation (std::string training_input_location_)
	Gets/Sets the directory containing the data for training. More...
std::string	getTrainedDataLocation () const
	Gets/Sets the base directory for trained data. More...
virtual void	setTrainedDataLocation (std::string trained_data_location_)
	The base directory for trained data. More...
std::string	getSpecificTrainingDataLocation ()
	Gets the specific directory for a Trainer or a Detector inside trained_data_location_. More...
std::string	getSpecificTrainingData ()
std::string const &	getTrainedDataID () const
void	setTrainedDataID (std::string const &trainedDataID)

Protected Member Functions
bool	detectSingleModel (ODSceneImage *scene, Model const &model, ODDetection3D *&pD, cv::Mat &frame_viz)

Protected Attributes
string	camera_intrinsic_file
cv::Scalar	red
cv::Scalar	green
cv::Scalar	blue
cv::Scalar	yellow
int	numKeyPoints
float	ratioTest
bool	fast_match
bool	use_gpu
bool	use_gpu_match
int	iterationsCount
float	reprojectionError
double	confidence
int	minInliers
int	pnpMethod
vector< string >	model_names
vector< Model >	models
PnPProblem	pnp_detection
std::string	f_type_default
boost::shared_ptr < ODFeatureDetector2D >	featureDetector
Protected Attributes inherited from od::ODDetectorCommon
std::string	training_input_location_
std::string	trained_data_location_
std::string	TRAINED_DATA_ID_
std::string	TRAINED_LOCATION_DENTIFIER_

Additional Inherited Members
Public Attributes inherited from od::ODDetector
bool	metainfo_

Detailed Description

Simple RANSAC based 3D object recognizer.

A recognizer which uses local features like SIFT/SURF to perform object recognition. Given a 'trained model' trained by ODCADRecogTrainerSnapshotBased or trained externally (manually augmenting features in 3D cad models), this class performs a complete detection in an image. It first extracts 2D features from the scene, matches them with all the feature augmented models (the trained data) and in the end solves PnP under RANSAC.

Author

Kripasindhu Sarkar

Examples:

objectdetector/od_image_cadrecog_camera.cpp, and objectdetector/od_image_cadrecog_files.cpp.

Definition at line 71 of file ODCADRecognizer2DLocal.h.

Constructor & Destructor Documentation

od::l2d::ODCADRecognizer2DLocal::ODCADRecognizer2DLocal ( string const &  trained_data_location_ = 0 )

inline

Definition at line 194 of file ODCADRecognizer2DLocal.h.

References blue, camera_intrinsic_file, confidence, f_type_default, fast_match, featureDetector, green, iterationsCount, od::ODDetector::metainfo_, minInliers, numKeyPoints, pnpMethod, ratioTest, red, reprojectionError, use_gpu, use_gpu_match, and yellow.

Member Function Documentation

ODDetections* od::l2d::ODCADRecognizer2DLocal::detect ( ODSceneImage *  scene )

virtual

Function for performing detection on a segmented scene.

The purpose of this function is to perform detection on a segmented scene or an 'object candidate'. i.e. the entire scene is considered as an 'object' or an detection. It is possible for a scene to trigger multiple detections.

Parameters

[in]

scene

An instance of 2D scene

Returns

A number of detections as an ODDetections instance.

Implements od::ODDetector2DComplete.

ODDetections3D* od::l2d::ODCADRecognizer2DLocal::detectOmni ( ODSceneImage *  scene )

virtual

Function for performing detection on an entire scene.

The purpose of this function is to detect an object in an entire scene. Thus, other than the type of detection we also have information about the location of the detection w.r.t. the scene.

Parameters

[in]

scene

An instance of 2D scene

Returns

A number of detections as an ODDetections3D instance containing information about the detection and its pose in 3D.

Implements od::ODDetector2DComplete.

Examples:

objectdetector/od_image_cadrecog_camera.cpp, and objectdetector/od_image_cadrecog_files.cpp.

bool od::l2d::ODCADRecognizer2DLocal::detectSingleModel ( ODSceneImage *  scene, Model const &  model, ODDetection3D *&  pD, cv::Mat &  frame_viz  )

protected

string const& od::l2d::ODCADRecognizer2DLocal::getCameraIntrinsicFile ( ) const

inline

Definition at line 74 of file ODCADRecognizer2DLocal.h.

References camera_intrinsic_file.

double od::l2d::ODCADRecognizer2DLocal::getConfidence ( ) const

inline

Definition at line 164 of file ODCADRecognizer2DLocal.h.

References confidence.

int od::l2d::ODCADRecognizer2DLocal::getIterationsCount ( ) const

inline

Definition at line 144 of file ODCADRecognizer2DLocal.h.

References iterationsCount.

int od::l2d::ODCADRecognizer2DLocal::getMinInliers ( ) const

inline

Definition at line 174 of file ODCADRecognizer2DLocal.h.

References minInliers.

int od::l2d::ODCADRecognizer2DLocal::getNumKeyPoints ( ) const

inline

Definition at line 84 of file ODCADRecognizer2DLocal.h.

References numKeyPoints.

int od::l2d::ODCADRecognizer2DLocal::getPnpMethod ( ) const

inline

Definition at line 184 of file ODCADRecognizer2DLocal.h.

References pnpMethod.

float od::l2d::ODCADRecognizer2DLocal::getRatioTest ( ) const

inline

Definition at line 94 of file ODCADRecognizer2DLocal.h.

References ratioTest.

float od::l2d::ODCADRecognizer2DLocal::getReprojectionError ( ) const

inline

Definition at line 154 of file ODCADRecognizer2DLocal.h.

References reprojectionError.

void od::l2d::ODCADRecognizer2DLocal::init ( )

virtual

Implements od::ODDetectorCommon.

Examples:

objectdetector/od_image_cadrecog_camera.cpp, and objectdetector/od_image_cadrecog_files.cpp.

bool od::l2d::ODCADRecognizer2DLocal::isFast_match ( ) const

inline

Definition at line 104 of file ODCADRecognizer2DLocal.h.

References fast_match.

bool od::l2d::ODCADRecognizer2DLocal::isMetainfo ( ) const

inline

Definition at line 134 of file ODCADRecognizer2DLocal.h.

References od::ODDetector::metainfo_.

bool od::l2d::ODCADRecognizer2DLocal::isUse_gpu ( ) const

inline

Definition at line 114 of file ODCADRecognizer2DLocal.h.

References use_gpu.

bool od::l2d::ODCADRecognizer2DLocal::isUse_gpu_match ( ) const

inline

Definition at line 124 of file ODCADRecognizer2DLocal.h.

References use_gpu_match.

void od::l2d::ODCADRecognizer2DLocal::parseParameterString

(

string

parameter_string

)

Examples:

objectdetector/od_image_cadrecog_camera.cpp, and objectdetector/od_image_cadrecog_files.cpp.

void od::l2d::ODCADRecognizer2DLocal::setCameraIntrinsicFile ( string const &  camera_intrinsic_file )

inline

Examples:

objectdetector/od_image_cadrecog_camera.cpp, and objectdetector/od_image_cadrecog_files.cpp.

Definition at line 79 of file ODCADRecognizer2DLocal.h.

References camera_intrinsic_file.

void od::l2d::ODCADRecognizer2DLocal::setConfidence ( double  confidence )

inline

Definition at line 169 of file ODCADRecognizer2DLocal.h.

References confidence.

void od::l2d::ODCADRecognizer2DLocal::setFast_match ( bool  fast_match )

inline

Definition at line 109 of file ODCADRecognizer2DLocal.h.

References fast_match.

void od::l2d::ODCADRecognizer2DLocal::setIterationsCount ( int  iterationsCount )

inline

Definition at line 149 of file ODCADRecognizer2DLocal.h.

References iterationsCount.

void od::l2d::ODCADRecognizer2DLocal::setMetainfo ( bool  metainfo )

inline

Definition at line 139 of file ODCADRecognizer2DLocal.h.

References od::ODDetector::metainfo_.

void od::l2d::ODCADRecognizer2DLocal::setMinInliers ( int  minInliers )

inline

Definition at line 179 of file ODCADRecognizer2DLocal.h.

References minInliers.

void od::l2d::ODCADRecognizer2DLocal::setNumKeyPoints ( int  numKeyPoints )

inline

Definition at line 89 of file ODCADRecognizer2DLocal.h.

References numKeyPoints.

void od::l2d::ODCADRecognizer2DLocal::setPnpMethod ( int  pnpMethod )

inline

Definition at line 189 of file ODCADRecognizer2DLocal.h.

References pnpMethod.

void od::l2d::ODCADRecognizer2DLocal::setRatioTest ( float  ratioTest )

inline

Definition at line 99 of file ODCADRecognizer2DLocal.h.

References ratioTest.

void od::l2d::ODCADRecognizer2DLocal::setReprojectionError ( float  reprojectionError )

inline

Definition at line 159 of file ODCADRecognizer2DLocal.h.

References reprojectionError.

void od::l2d::ODCADRecognizer2DLocal::setUse_gpu ( bool  use_gpu )

inline

Definition at line 119 of file ODCADRecognizer2DLocal.h.

References use_gpu.

void od::l2d::ODCADRecognizer2DLocal::setUse_gpu_match ( bool  use_gpu_match )

inline

Definition at line 129 of file ODCADRecognizer2DLocal.h.

References use_gpu_match.

Member Data Documentation

cv::Scalar od::l2d::ODCADRecognizer2DLocal::blue

protected

Definition at line 238 of file ODCADRecognizer2DLocal.h.

Referenced by ODCADRecognizer2DLocal().

string od::l2d::ODCADRecognizer2DLocal::camera_intrinsic_file

protected

Definition at line 234 of file ODCADRecognizer2DLocal.h.

Referenced by getCameraIntrinsicFile(), ODCADRecognizer2DLocal(), and setCameraIntrinsicFile().

double od::l2d::ODCADRecognizer2DLocal::confidence

protected

Definition at line 251 of file ODCADRecognizer2DLocal.h.

Referenced by getConfidence(), ODCADRecognizer2DLocal(), and setConfidence().

std::string od::l2d::ODCADRecognizer2DLocal::f_type_default

protected

Definition at line 263 of file ODCADRecognizer2DLocal.h.

Referenced by ODCADRecognizer2DLocal().

bool od::l2d::ODCADRecognizer2DLocal::fast_match

protected

Definition at line 244 of file ODCADRecognizer2DLocal.h.

Referenced by isFast_match(), ODCADRecognizer2DLocal(), and setFast_match().

boost::shared_ptr<ODFeatureDetector2D> od::l2d::ODCADRecognizer2DLocal::featureDetector

protected

Definition at line 264 of file ODCADRecognizer2DLocal.h.

Referenced by ODCADRecognizer2DLocal().

cv::Scalar od::l2d::ODCADRecognizer2DLocal::green

protected

Definition at line 237 of file ODCADRecognizer2DLocal.h.

Referenced by ODCADRecognizer2DLocal().

int od::l2d::ODCADRecognizer2DLocal::iterationsCount

protected

Definition at line 249 of file ODCADRecognizer2DLocal.h.

Referenced by getIterationsCount(), ODCADRecognizer2DLocal(), and setIterationsCount().

int od::l2d::ODCADRecognizer2DLocal::minInliers

protected

Definition at line 254 of file ODCADRecognizer2DLocal.h.

Referenced by getMinInliers(), ODCADRecognizer2DLocal(), and setMinInliers().

vector<string> od::l2d::ODCADRecognizer2DLocal::model_names

protected

Definition at line 260 of file ODCADRecognizer2DLocal.h.

vector<Model> od::l2d::ODCADRecognizer2DLocal::models

protected

Definition at line 261 of file ODCADRecognizer2DLocal.h.

int od::l2d::ODCADRecognizer2DLocal::numKeyPoints

protected

Definition at line 242 of file ODCADRecognizer2DLocal.h.

Referenced by getNumKeyPoints(), ODCADRecognizer2DLocal(), and setNumKeyPoints().

PnPProblem od::l2d::ODCADRecognizer2DLocal::pnp_detection

protected

Definition at line 262 of file ODCADRecognizer2DLocal.h.

int od::l2d::ODCADRecognizer2DLocal::pnpMethod

protected

Definition at line 257 of file ODCADRecognizer2DLocal.h.

Referenced by getPnpMethod(), ODCADRecognizer2DLocal(), and setPnpMethod().

float od::l2d::ODCADRecognizer2DLocal::ratioTest

protected

Definition at line 243 of file ODCADRecognizer2DLocal.h.

Referenced by getRatioTest(), ODCADRecognizer2DLocal(), and setRatioTest().

cv::Scalar od::l2d::ODCADRecognizer2DLocal::red

protected

Definition at line 236 of file ODCADRecognizer2DLocal.h.

Referenced by ODCADRecognizer2DLocal().

float od::l2d::ODCADRecognizer2DLocal::reprojectionError

protected

Definition at line 250 of file ODCADRecognizer2DLocal.h.

Referenced by getReprojectionError(), ODCADRecognizer2DLocal(), and setReprojectionError().

bool od::l2d::ODCADRecognizer2DLocal::use_gpu

protected

Definition at line 245 of file ODCADRecognizer2DLocal.h.

Referenced by isUse_gpu(), ODCADRecognizer2DLocal(), and setUse_gpu().

bool od::l2d::ODCADRecognizer2DLocal::use_gpu_match

protected

Definition at line 246 of file ODCADRecognizer2DLocal.h.

Referenced by isUse_gpu_match(), ODCADRecognizer2DLocal(), and setUse_gpu_match().

cv::Scalar od::l2d::ODCADRecognizer2DLocal::yellow

protected

Definition at line 239 of file ODCADRecognizer2DLocal.h.

Referenced by ODCADRecognizer2DLocal().

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

• /home/sarkar/opendetection/detectors/local2D/detection/ODCADRecognizer2DLocal.h