Basic class for loacting objects. More...
#include <VisFinder.h>
Public Member Functions | |
| void | AddAlgorithm (Algorithm< std::vector< RelPose * > > *alg) |
| Adds a new Algorithm to the visual finder. | |
| int | CountAlgorithms () |
| const AlgorithmSelector < std::vector< RelPose * > > & | GetAlgorithmSelection () |
| bool | GetPlaneClusterCall (PossibleLocations_t *poses, RelPose *, PerceptionPrimitive &obj, const std::vector< Sensor * > &sensors) |
| virtual SignatureLocations_t | Locate (PossibleLocations_t *lastKnownPoses, PerceptionPrimitive &object, int &numOfObjects) |
| locates the class or object that is specified by object, updates its signature if it succeeds, sets the numOfObjects, returns a SignatureLocations_t. | |
| VisFinder & | operator= (VisFinder &) |
| virtual RelPose * | RelTwoObjects (const RelPose &pose, Signature &sig1, Signature &sig2) |
| virtual XMLTag * | Save () |
| virtual void | StartTrack (PerceptionPrimitive &object, RelPose *pose) |
| virtual void | StopTrack (Signature &object) |
| VisFinder (XMLTag *configFile, ImageInputSystem *imageSystem, SignatureDB *db, AttentionManager *manager, VisLearner *visLearner) | |
| constructs a visual finder | |
| virtual | ~VisFinder () |
Public Attributes | |
| AttentionManager * | m_attentionMan |
| ImageInputSystem * | m_imageSys |
| SignatureDB * | m_sigdb |
| VisLearner * | m_visLearner |
Private Attributes | |
| std::map< int, TrackAlgorithm * > | m_runningTracks |
| AlgorithmSelector< std::vector < RelPose * > > | m_selLocate |
| VisFinder::VisFinder | ( | XMLTag * | configFile, |
| ImageInputSystem * | imageSystem, | ||
| SignatureDB * | db, | ||
| AttentionManager * | manager, | ||
| VisLearner * | visLearner | ||
| ) |
constructs a visual finder
Constructor VisFinder
| configFile | configuation of the visual finder, menaing which algorithms are in it |
| imageSystem | reference to the camera setup ussed to get images from |
| db | reference the the signature database used for looking up model information |
| manager | Attention Manager, not specified |
| visLearner | reference to the model improver can be triggered by the visual finder #ifdef LOGFILE |
| log | the central logfile #endif |
Definition at line 53 of file VisFinder.cpp.
| VisFinder::~VisFinder | ( | ) | [virtual] |
Empty Destructor
Definition at line 70 of file VisFinder.cpp.
| void VisFinder::AddAlgorithm | ( | Algorithm< std::vector< RelPose * > > * | alg | ) |
Adds a new Algorithm to the visual finder.
AddAlgorithm
| alg | the algorithm that should be added to the list of algorithms available |
AddAlgorithm
| alg |
Definition at line 381 of file VisFinder.cpp.
| int cop::VisFinder::CountAlgorithms | ( | ) | [inline] |
Return num of Algorithms in the visual finder
Definition at line 136 of file VisFinder.h.
| const AlgorithmSelector<std::vector<RelPose*> >& cop::VisFinder::GetAlgorithmSelection | ( | ) | [inline] |
Definition at line 138 of file VisFinder.h.
| bool VisFinder::GetPlaneClusterCall | ( | PossibleLocations_t * | poses, |
| RelPose * | pose, | ||
| PerceptionPrimitive & | obj, | ||
| const std::vector< Sensor * > & | sensors | ||
| ) |
Checks if there is a the possibility to create search spaces, if there are no given
| poses | resulting poses |
| obj | type of this could be relevant |
| sensors | list of available sensors, should contain a 3D sensor |
Definition at line 96 of file VisFinder.cpp.
| SignatureLocations_t VisFinder::Locate | ( | PossibleLocations_t * | lastKnownPoses, |
| PerceptionPrimitive & | visPrim, | ||
| int & | numOfObjects | ||
| ) | [virtual] |
locates the class or object that is specified by object, updates its signature if it succeeds, sets the numOfObjects, returns a SignatureLocations_t.
Locate
| lastKnownPoses | a list of possible positions and the a-prioi probabilitiers for the object beeing at this position |
| object | the signature that will be searched for |
| numOfObjects |
| LastKnownPose | |
| Object | |
| numOfObjects |
Collect results and measure time
Make results sortable
Sort results
Definition at line 139 of file VisFinder.cpp.
Definition at line 80 of file VisFinder.h.
| RelPose * VisFinder::RelTwoObjects | ( | const RelPose & | Pose, |
| Signature & | Obj1, | ||
| Signature & | Obj2 | ||
| ) | [virtual] |
Not yet finished, concept not yet integrated
| pose | |
| sig1 | |
| sig2 |
| CurImage | |
| Pose | |
| Obj1 | |
| Obj2 |
Definition at line 371 of file VisFinder.cpp.
| XMLTag * VisFinder::Save | ( | ) | [virtual] |
Saves the Visual Finder
Saves the status of the Visual Finder
Definition at line 88 of file VisFinder.cpp.
| void VisFinder::StartTrack | ( | PerceptionPrimitive & | visPrim, |
| RelPose * | poseEstimation | ||
| ) | [virtual] |
Starts a thread tracks the object specified with object
| object | contains a trackable signature and the vision primitive id |
| pose | intial guess of the pose of the trackable object |
| Object | |
| poseEstimation |
TODO: Check how to include Locating and special Tracking algorithms
Definition at line 315 of file VisFinder.cpp.
| void VisFinder::StopTrack | ( | Signature & | object | ) | [virtual] |
Stops the thread that tracks the object specified with object
| object | contains a trackable signature |
| Object |
Definition at line 353 of file VisFinder.cpp.
Definition at line 149 of file VisFinder.h.
Definition at line 146 of file VisFinder.h.
std::map<int, TrackAlgorithm*> cop::VisFinder::m_runningTracks [private] |
Definition at line 144 of file VisFinder.h.
AlgorithmSelector<std::vector<RelPose*> > cop::VisFinder::m_selLocate [private] |
The list of algorithms and their type and evaluation
Definition at line 143 of file VisFinder.h.
Definition at line 147 of file VisFinder.h.
Definition at line 148 of file VisFinder.h.
