#include <SurfPlanarDetector.h>
Public Member Functions | |
| void | detect (ObjectDetectorMethod::DetectionData &data, ObjectModel &model, re_msgs::DetectedObject &detection) |
| SurfPlanarDetector () | |
| virtual | ~SurfPlanarDetector () |
Protected Member Functions | |
| bool | alignedPoints (const ObjectModel::Face &face, const std::vector< int > indices) const |
| bool | detectWithHomography (const SurfSet &scene_surfset, ObjectModel &model, ObjectModel::Face &face, const std::vector< int > &model_indices, const std::vector< int > &scene_indices, const std::vector< float > &distances, const ObjectDetectorMethod::DetectionData &data, const double maxReprojectionError, bool doReChecking, re_msgs::DetectedObject &detection) |
Protected Attributes | |
| std::string | m_debug_prefix |
| times ::detect has been called | |
| int | m_detect_counter |
Detailed Description
Definition at line 48 of file SurfPlanarDetector.h.
Constructor & Destructor Documentation
| SurfPlanarDetector::SurfPlanarDetector | ( | ) | [inline] |
Definition at line 53 of file SurfPlanarDetector.h.
| virtual SurfPlanarDetector::~SurfPlanarDetector | ( | ) | [inline, virtual] |
Definition at line 58 of file SurfPlanarDetector.h.
Member Function Documentation
| bool SurfPlanarDetector::alignedPoints | ( | const ObjectModel::Face & | face, |
| const std::vector< int > | indices | ||
| ) | const [protected] |
Checks if a set of points are aligned in the 3D space
- Parameters:
-
face indices indices of 3D face points to check
- Returns:
- true iif points aligned
Definition at line 189 of file SurfPlanarDetector.cpp.
| void SurfPlanarDetector::detect | ( | ObjectDetectorMethod::DetectionData & | data, |
| ObjectModel & | model, | ||
| re_msgs::DetectedObject & | detection | ||
| ) | [virtual] |
Tries to detect in the given data the given model. Results are stored in detection
- Parameters:
-
data model model to search for detection results
- See also:
- ObjectDetectorMethod::detect
Implements ObjectDetectorMethod.
Definition at line 76 of file SurfPlanarDetector.cpp.
| bool SurfPlanarDetector::detectWithHomography | ( | const SurfSet & | scene_surfset, |
| ObjectModel & | model, | ||
| ObjectModel::Face & | face, | ||
| const std::vector< int > & | model_indices, | ||
| const std::vector< int > & | scene_indices, | ||
| const std::vector< float > & | distances, | ||
| const ObjectDetectorMethod::DetectionData & | data, | ||
| const double | maxReprojectionError, | ||
| bool | doReChecking, | ||
| re_msgs::DetectedObject & | detection | ||
| ) | [protected] |
Given the correspondences between the scene and the model, tries to detect the object with an homography
- Parameters:
-
scene_surfset surfs from the original image model model checked face face of the model checked model_indices indices of model keypoints matched scene_indices indices of scene keypoints matched distances distances between the matched keypoint descriptors data common detection data maxReprojectionError max reprojection error to accept a reprojected point as an inlier doReChecking if true, the algorithm is run again with the inliers got in the first iteration and with a smaller maxReprojectionError detection place to put the results in
- Returns:
- true iif the model can be detected
Definition at line 222 of file SurfPlanarDetector.cpp.
Member Data Documentation
std::string SurfPlanarDetector::m_debug_prefix [protected] |
times ::detect has been called
Definition at line 112 of file SurfPlanarDetector.h.
int SurfPlanarDetector::m_detect_counter [protected] |
Definition at line 111 of file SurfPlanarDetector.h.
The documentation for this class was generated from the following files: