ODUFinder Class Reference

#include <odu_finder.h>

Inheritance diagram for ODUFinder:

Public Types
enum	VisualizationMode { FRAMES, SEQUENCES }
Public Member Functions
void	add_image_to_database (vt::Document &doc, std::string &name)
	adds new templates to the database
void	build_database (std::string directory)
	builds the vocabulary tree and trains the database
void	extract_roi (IplImage image, std::vector< KeypointExt > camera_keypoints)
void	load_database (std::string &directory)
	loads the database, that is images.tree, images.weights, images.documents
	ODUFinder ()
std::string	process_image (IplImage *camera_image)
	Create a visualization window and start the visualization threas.
void	process_images (std::string directory)
	only called with "sift_only" command argument for extracting of keypoints
void	save_database (std::string &directory)
	saves images.tree, images.weights, images.documents
void	save_database_without_tree (std::string &directory)
	saves images.weights, images.documents (faster than save_database function)
void	set_visualization (bool enable_visualization_in)
	Create a visualization window and start the visualization threas.
int	start ()
void	write_stat_summary ()
	writes the statistics of the recognition process in a package
	~ODUFinder ()
Public Attributes
IplImage *	camera_image
size_t	camera_keypoints_count
std::vector< unsigned int >	cluster_sizes
CvScalar	color_table [COLORS]
std::string	command
int	count_templates
std::string	database_location
vt::Database *	db
std::vector< vt::Document >	docs
std::map< int, DocumentInfo * >	documents_map
int	enable_clustering
int	enable_incremental_learning
bool	enable_logging_
int	enable_visualization
bool	extract_roi_
int	frame_number
IplImage *	image
std::vector< std::string >	image_names
IplImage *	image_roi
std::string	images_directory
std::string	images_for_visualization_directory
std::map< int, int >	last_templates
std::ofstream	logger
std::map< uint32_t, float >	matches_map
int	min_cluster_size
int	object_id
std::string	output_image_topic_
double	radius_adaptation_A
double	radius_adaptation_K
double	radius_adaptation_r_max
double	radius_adaptation_r_min
std::vector< std::string >	sequence_buffer
std::list< int >	sliding_window
int	sliding_window_size
std::map< std::string, int >	stat_summary_map
IplImage *	template_image
int	templates_to_show
vt::VocabularyTree< Feature >	tree
vt::TreeBuilder< Feature >	tree_builder
int	tree_k
int	tree_levels
double	unknown_object_threshold
VisualizationMode	visualization_mode_
int	votes_count
Protected Member Functions
void	clear_sequence_buffer ()
	Clears the sequence buffer.
Keypoint	extract_keypoints (IplImage *image, bool frames_only=false)
	extracts SIFT keypoints
void	process_file (std::string &filename, std::vector< FeatureVector > &images, bool onlySaveImages=false)
	extract keypoints from training images and optionally saves them
void	save_result_for_sequence (std::string &best_template_filename)
	Adds the current result to the sequence buffer in order to be visualized later by visualize_sequence.
void	trace_directory (const char dir, const char prefix, std::vector< FeatureVector > &images, bool onlySaveImages=false)
	recursively traces the directory with images
void	update_matches_map (vt::Matches &matches, size_t size)
	Accumulates the scores from the clusters and updates the map of matches (matches_map) which is a map of Document IDs and their scores in the database.
void	visualize (IplImage camera_image_in, DocumentInfo template_document_info, std::vector< KeypointExt > *camera_keypoints)
	visualization function
void	visualize_sequence ()
	Visualizes the stored sequence.

Detailed Description

Definition at line 38 of file odu_finder.h.

Member Enumeration Documentation

enum ODUFinder::VisualizationMode

Enumerator:

FRAMES
SEQUENCES

Definition at line 41 of file odu_finder.h.

Constructor & Destructor Documentation

ODUFinder::ODUFinder ( )

Definition at line 55 of file odu_finder.cpp.

ODUFinder::~ODUFinder ( )

Definition at line 132 of file odu_finder.cpp.

Member Function Documentation

void ODUFinder::add_image_to_database	(	vt::Document &	doc,
		std::string &	name
	)

adds new templates to the database

Parameters:

	doc	full database document
	name	new template name (object + time stamp in this case)

Definition at line 527 of file odu_finder.cpp.

void ODUFinder::build_database ( std::string directory )

builds the vocabulary tree and trains the database

Parameters:

directory

directory with training images

Definition at line 420 of file odu_finder.cpp.

void ODUFinder::clear_sequence_buffer ( ) [protected]

Clears the sequence buffer.

Definition at line 860 of file odu_finder.cpp.

Keypoint ODUFinder::extract_keypoints	(	IplImage *	image,
		bool	frames_only = `false`
	)			`[protected]`

extracts SIFT keypoints

Parameters:

	filename	input image
	frames_only	currently redundant : remove??

Definition at line 786 of file odu_finder.cpp.

void ODUFinder::extract_roi	(	IplImage *	image,
		std::vector< KeypointExt * >	camera_keypoints
	)

publish when object was detected publish rect with ROI region of interest extract an image from another one

Definition at line 822 of file odu_finder.cpp.

void ODUFinder::load_database ( std::string & directory )

loads the database, that is images.tree, images.weights, images.documents

Parameters:

directory

storage location for database

Definition at line 495 of file odu_finder.cpp.

void ODUFinder::process_file	(	std::string &	filename,
		std::vector< FeatureVector > &	images,
		bool	onlySaveImages = `false`
	)			`[protected]`

extract keypoints from training images and optionally saves them

Parameters:

	filename	input training image
	images	extracted keypoints
	onlySaveImages	whether to save images or not

Definition at line 749 of file odu_finder.cpp.

std::string ODUFinder::process_image ( IplImage * camera_image )

Create a visualization window and start the visualization threas.

Parameters:

enable_visualization

Definition at line 147 of file odu_finder.cpp.

void ODUFinder::process_images ( std::string directory )

only called with "sift_only" command argument for extracting of keypoints

Parameters:

directory

directory with training images

Definition at line 458 of file odu_finder.cpp.

void ODUFinder::save_database ( std::string & directory )

saves images.tree, images.weights, images.documents

Parameters:

directory

target directory for database

Definition at line 486 of file odu_finder.cpp.

void ODUFinder::save_database_without_tree ( std::string & directory )

saves images.weights, images.documents (faster than save_database function)

Parameters:

directory

target directory for database

Definition at line 464 of file odu_finder.cpp.

void ODUFinder::save_result_for_sequence ( std::string & best_template_filename ) [protected]

Adds the current result to the sequence buffer in order to be visualized later by visualize_sequence.

Parameters:

	camera_image_in	input camera image
	template_document_info	which documents to visualize
	camera_keypoints	keypoints extracted in the input image

Definition at line 852 of file odu_finder.cpp.

void ODUFinder::set_visualization ( bool enable_visualization_in )

Create a visualization window and start the visualization threas.

Parameters:

enable_visualization

(bool)

Definition at line 123 of file odu_finder.cpp.

int ODUFinder::start ( )

Definition at line 401 of file odu_finder.cpp.

void ODUFinder::trace_directory	(	const char *	dir,
		const char *	prefix,
		std::vector< FeatureVector > &	images,
		bool	onlySaveImages = `false`
	)			`[protected]`

recursively traces the directory with images

Parameters:

	dir	parent directory
	prefix
	images	vector of extracted keypoints
	onlySaveImages	whether we only extract keypoints and save images with them

Definition at line 536 of file odu_finder.cpp.

void ODUFinder::update_matches_map	(	vt::Matches &	matches,
		size_t	size
	)			`[protected]`

Accumulates the scores from the clusters and updates the map of matches (matches_map) which is a map of Document IDs and their scores in the database.

Parameters:

	matches	- vector of Match-es (see vocabulary tree API)
	size	- currently unused

Definition at line 726 of file odu_finder.cpp.

void ODUFinder::visualize	(	IplImage *	camera_image_in,
		DocumentInfo **	template_document_info,
		std::vector< KeypointExt * > *	camera_keypoints
	)			`[protected]`

visualization function

Parameters:

	camera_image_in	input camera image
	template_document_info	which documents to visualize
	camera_keypoints	a pointer to the vector containing the keypoints extracted in the input image or NULL if no keypoints are provided

Definition at line 575 of file odu_finder.cpp.

void ODUFinder::visualize_sequence ( ) [protected]

Visualizes the stored sequence.

Definition at line 856 of file odu_finder.cpp.

void ODUFinder::write_stat_summary ( )

writes the statistics of the recognition process in a package

Definition at line 805 of file odu_finder.cpp.