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blortRecognizer::Recognizer3D Class Reference

Recognizer for 3D pose estimation using SIFT features. More...

#include <Recognizer3D.h>

List of all members.

Public Member Functions

unsigned int getCodeBookSize ()
cv::Mat getDebugImage ()
cv::Mat getImage ()
void getLastSifts (std::vector< Siftex > &sl)
 get position and normal vector of sift features in model detected in the last call of learnSifts()
void getSifts (std::vector< Siftex > &sl)
 get position and normal vector of sift features in model
bool learnSifts (IplImage *tFrame, const TomGine::tgModel &model, const TomGine::tgPose &pose)
 add sift features to sift model of an object
bool loadModelFromFile (const std::string sift_file)
 load a sift model
bool recognize (IplImage *tFrame, TomGine::tgPose &pose, float &conf)
 recognizes a object by using the loaded sift model file
 Recognizer3D (const CameraParameter &camParam, std::string config_root="", bool display=false)
 Construction of Recognizer.
bool saveModelToFile (const char *sift_file)
 save a sift model
void setCameraParameter (const blortRecognizer::CameraParameter &camParam)
void setDoUndistort (bool enable)
void setGaussian (int kernel, float stdDeviation)
void setNNThreshold (double nn_threshold)
void setRansacNPointsToMatch (unsigned int n)
 ~Recognizer3D ()

Static Public Member Functions

static void Convert (P::PoseCv &p1, TomGine::tgPose &p2)

Private Member Functions

 Recognizer3D ()

Private Attributes

CvMat * C
std::string config_root
cv::Mat debug_image
cv::Mat display_image
bool do_undistort
CameraParameter m_cp
P::ODetect3D m_detect
bool m_display
float m_gauss_dev
int m_gauss_kernel
P::Array< P::KeypointDescriptor * > m_image_keys
std::vector< Siftexm_lastsiftexlist
bool m_model_loaded
P::Object3D m_sift_model
P::ModelObject3D m_sift_model_learner
std::vector< Siftexm_siftexlist
CvMat * pDistortion
CvMat * pIntrinsicDistort
CvMat * pMapX
CvMat * pMapY
P::DetectGPUSIFT sift

Detailed Description

Recognizer for 3D pose estimation using SIFT features.

Definition at line 47 of file Recognizer3D.h.


Constructor & Destructor Documentation

Recognizer3D::Recognizer3D ( const CameraParameter camParam,
std::string  config_root = "",
bool  display = false 
)

Construction of Recognizer.

Parameters:
camParam camera parameter for camera calibration
prefix to be added to every file path
display display sifts and found object in a window

Definition at line 47 of file Recognizer3D.cpp.

Recognizer3D::~Recognizer3D (  ) 

Definition at line 109 of file Recognizer3D.cpp.

blortRecognizer::Recognizer3D::Recognizer3D (  )  [private]

Member Function Documentation

void Recognizer3D::Convert ( P::PoseCv p1,
TomGine::tgPose p2 
) [static]

Definition at line 31 of file Recognizer3D.cpp.

unsigned int Recognizer3D::getCodeBookSize (  ) 

Definition at line 377 of file Recognizer3D.cpp.

cv::Mat blortRecognizer::Recognizer3D::getDebugImage (  )  [inline]

Definition at line 104 of file Recognizer3D.h.

cv::Mat blortRecognizer::Recognizer3D::getImage (  )  [inline]

Definition at line 97 of file Recognizer3D.h.

void blortRecognizer::Recognizer3D::getLastSifts ( std::vector< Siftex > &  sl  )  [inline]

get position and normal vector of sift features in model detected in the last call of learnSifts()

Parameters:
pl 3D point list of sift features (relative to object)
nl 3D normal vector list of sift features (in object space)

Definition at line 93 of file Recognizer3D.h.

void blortRecognizer::Recognizer3D::getSifts ( std::vector< Siftex > &  sl  )  [inline]

get position and normal vector of sift features in model

Parameters:
pl 3D point list of sift features (relative to object)
nl 3D normal vector list of sift features (in object space)

Definition at line 88 of file Recognizer3D.h.

bool Recognizer3D::learnSifts ( IplImage *  tFrame,
const TomGine::tgModel model,
const TomGine::tgPose pose 
)

add sift features to sift model of an object

Parameters:
tFrame image/pixel map to search for new sift features
model shape description of model using faces and vertices (see TomGine::tgModel)
pose pose of the model as seen in the image

Definition at line 241 of file Recognizer3D.cpp.

bool Recognizer3D::loadModelFromFile ( const std::string  sift_file  ) 

load a sift model

Parameters:
sift_file relative path and name to sift file (i.e.: "../Resources/sift/TeaBox.sift")
Returns:
success of loading the file

Definition at line 361 of file Recognizer3D.cpp.

bool Recognizer3D::recognize ( IplImage *  tFrame,
TomGine::tgPose pose,
float &  conf 
)

recognizes a object by using the loaded sift model file

Parameters:
tFrame Image/Pixel map to search for the sift model
pose returned pose of the object (if found)
conf returned confidence of pose of the object
Returns:
true if object found, false if not

Definition at line 155 of file Recognizer3D.cpp.

bool Recognizer3D::saveModelToFile ( const char *  sift_file  ) 

save a sift model

Parameters:
sift_file relative path and name to sift file (i.e.: "../Resources/sift/TeaBox.sift")
Returns:
success of saving the file

Definition at line 370 of file Recognizer3D.cpp.

void Recognizer3D::setCameraParameter ( const blortRecognizer::CameraParameter camParam  ) 

Definition at line 118 of file Recognizer3D.cpp.

void blortRecognizer::Recognizer3D::setDoUndistort ( bool  enable  )  [inline]

Definition at line 98 of file Recognizer3D.h.

void blortRecognizer::Recognizer3D::setGaussian ( int  kernel,
float  stdDeviation 
) [inline]

Definition at line 60 of file Recognizer3D.h.

void Recognizer3D::setNNThreshold ( double  nn_threshold  ) 

Definition at line 382 of file Recognizer3D.cpp.

void Recognizer3D::setRansacNPointsToMatch ( unsigned int  n  ) 

Definition at line 387 of file Recognizer3D.cpp.


Member Data Documentation

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The documentation for this class was generated from the following files:
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blort
Author(s): Michael Zillich, Thomas Mörwald, Johann Prankl, Andreas Richtsfeld, Bence Magyar (ROS version)
autogenerated on Fri Mar 1 16:57:58 2013