P::ODetect3D Class Reference

#include <ODetect3D.hh>

List of all members.

Classes
class	Point2D
class	Point3D
Public Member Functions
bool	Detect (Array< KeypointDescriptor * > &keys, Object3D &object)
void	DrawInlier (IplImage *img, CvScalar col)
	ODetect3D ()
void	SetCameraParameter (CvMat *C)
void	SetDebugImage (IplImage *img)
void	setNNThreshold (double nn_threshold)
void	setNPointsToMatch (unsigned int n)
	~ODetect3D ()
Private Member Functions
void	ComputeConfidence (Array< KeypointDescriptor * > &keys, unsigned &numInl, Object3D &object)
void	CopyPoseCv (PoseCv &in, PoseCv &out)
void	DeletePairs (Array< KeyClusterPair * > &matches)
void	FitModelRANSAC (Array< KeyClusterPair * > &matches, PoseCv &pose, unsigned &numInl)
bool	GetBestCorner (PoseCv &pose, KeypointDescriptor *k, CodebookEntry *cbe, Point3D &pos, double &minDist)
void	GetInlier (Array< KeyClusterPair * > &matches, PoseCv &pose, int &inl)
void	GetRandIdx (unsigned size, unsigned num, P::Array< unsigned > &idx)
void	MatchKeypoints (Array< KeypointDescriptor * > &keys, Array< CodebookEntry * > &cb, Array< KeyClusterPair * > &matches)
void	MatchKeypoints2 (Array< KeypointDescriptor * > &keys, Array< CodebookEntry * > &cb, Array< KeyClusterPair * > &matches)
void	MatchKeypointsGPU (Array< KeypointDescriptor * > &keys, Array< CodebookEntry * > &cb, Array< KeyClusterPair * > &matches)
void	ProjectPoint2Image (double xc, double yc, double zc, CvMat *C, double &xi, double &yi)
void	RefinePoseLS (Array< KeyClusterPair * > &matches, PoseCv &pose, unsigned &inl, double &err)
Private Attributes
CvMat *	cameraMatrix
IplImage *	dbg
CvMat *	distCoeffs
Array< KeypointDescriptor * >	inlier
SiftMatchGPU *	matcher
int	matcherSize
Array< KeyClusterPair * >	matches
unsigned int	n_points_to_match
double	nn_far_enough_threshold

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Detailed Description

Definition at line 25 of file ODetect3D.hh.

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Constructor & Destructor Documentation

P::ODetect3D::ODetect3D

(

)

Definition at line 26 of file ODetect3D.cc.

P::ODetect3D::~ODetect3D

(

)

Definition at line 46 of file ODetect3D.cc.

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Member Function Documentation

void P::ODetect3D::ComputeConfidence	(	Array< KeypointDescriptor * > &	keys,
		unsigned &	numInl,
		Object3D &	object
	)			[private]

ComputeConfidence

Definition at line 437 of file ODetect3D.cc.

void P::ODetect3D::CopyPoseCv	(	PoseCv &	in,
		PoseCv &	out
	)			[inline, private]

Definition at line 114 of file ODetect3D.hh.

void P::ODetect3D::DeletePairs

(

Array< KeyClusterPair * > &

matches

)

[private]

DeletePairs

Definition at line 57 of file ODetect3D.cc.

bool P::ODetect3D::Detect	(	Array< KeypointDescriptor * > &	keys,
		Object3D &	object
	)

Simple RANSAC based 3d object detector

Definition at line 480 of file ODetect3D.cc.

void P::ODetect3D::DrawInlier	(	IplImage *	img,
		CvScalar	col
	)

Draw inlier stored during recognition. Attention: Pointers are stored! DrawInlier only works as long as image keypoints are valid!

Definition at line 572 of file ODetect3D.cc.

void P::ODetect3D::FitModelRANSAC	(	Array< KeyClusterPair * > &	matches,
		PoseCv &	pose,
		unsigned &	numInl
	)			[private]

Verify object model

Definition at line 233 of file ODetect3D.cc.

bool P::ODetect3D::GetBestCorner	(	PoseCv &	pose,
		KeypointDescriptor *	k,
		CodebookEntry *	cbe,
		Point3D &	pos,
		double &	minDist
	)			[private]

Get best supporting corner of a matching codebook entry

Definition at line 321 of file ODetect3D.cc.

void P::ODetect3D::GetInlier	(	Array< KeyClusterPair * > &	matches,
		PoseCv &	pose,
		int &	inl
	)			[private]

Count inlier

Definition at line 191 of file ODetect3D.cc.

void P::ODetect3D::GetRandIdx	(	unsigned	size,
		unsigned	num,
		P::Array< unsigned > &	idx
	)			[private]

GetRandIdx

Definition at line 175 of file ODetect3D.cc.

void P::ODetect3D::MatchKeypoints	(	Array< KeypointDescriptor * > &	keys,
		Array< CodebookEntry * > &	cb,
		Array< KeyClusterPair * > &	matches
	)			[private]

Match keypoints with codebook (use threshold)

Definition at line 111 of file ODetect3D.cc.

void P::ODetect3D::MatchKeypoints2	(	Array< KeypointDescriptor * > &	keys,
		Array< CodebookEntry * > &	cb,
		Array< KeyClusterPair * > &	matches
	)			[private]

Match keypoints with codebook check second nearest neighbour

Definition at line 69 of file ODetect3D.cc.

void P::ODetect3D::MatchKeypointsGPU	(	Array< KeypointDescriptor * > &	keys,
		Array< CodebookEntry * > &	cb,
		Array< KeyClusterPair * > &	matches
	)			[private]

Match keypoints (GPU version)

Definition at line 141 of file ODetect3D.cc.

void P::ODetect3D::ProjectPoint2Image	(	double	xc,
		double	yc,
		double	zc,
		CvMat *	C,
		double &	xi,
		double &	yi
	)			[inline, private]

ProjectPoint2Image projects a 3d point to the image

Definition at line 107 of file ODetect3D.hh.

void P::ODetect3D::RefinePoseLS	(	Array< KeyClusterPair * > &	matches,
		PoseCv &	pose,
		unsigned &	inl,
		double &	err
	)			[private]

Compute least squares pose

Definition at line 356 of file ODetect3D.cc.

void P::ODetect3D::SetCameraParameter

(

CvMat *

C

)

Set camera intrinsic parameter We assume undistort images!!! Keypoints must be undistort!!!!

Parameters:

_C

Camera intrinsic matrix of undistort images

Definition at line 562 of file ODetect3D.cc.

void P::ODetect3D::SetDebugImage

(

IplImage *

img

)

[inline]

Definition at line 86 of file ODetect3D.hh.

void P::ODetect3D::setNNThreshold

(

double

nn_threshold

)

[inline]

Definition at line 91 of file ODetect3D.hh.

void P::ODetect3D::setNPointsToMatch

(

unsigned int

n

)

[inline]

Definition at line 96 of file ODetect3D.hh.

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Member Data Documentation

CvMat* P::ODetect3D::cameraMatrix [private]

Definition at line 45 of file ODetect3D.hh.

IplImage* P::ODetect3D::dbg [private]

Definition at line 43 of file ODetect3D.hh.

CvMat* P::ODetect3D::distCoeffs [private]

Definition at line 46 of file ODetect3D.hh.

Array<KeypointDescriptor*> P::ODetect3D::inlier [private]

Definition at line 51 of file ODetect3D.hh.

SiftMatchGPU* P::ODetect3D::matcher [private]

Definition at line 48 of file ODetect3D.hh.

int P::ODetect3D::matcherSize [private]

Definition at line 49 of file ODetect3D.hh.

Array<KeyClusterPair*> P::ODetect3D::matches [private]

Definition at line 74 of file ODetect3D.hh.

unsigned int P::ODetect3D::n_points_to_match [private]

Definition at line 76 of file ODetect3D.hh.

double P::ODetect3D::nn_far_enough_threshold [private]

Definition at line 75 of file ODetect3D.hh.

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

• ODetect3D.hh
• ODetect3D.cc