Surf3DDetector Class Reference

#include <Surf3DDetector.h>

Inheritance diagram for Surf3DDetector:

List of all members.

Public Member Functions
void	detect (ObjectDetectorMethod::DetectionData &data, ObjectModel &model, re_msgs::DetectedObject &detection)
	Surf3DDetector ()
virtual	~Surf3DDetector ()
Protected Member Functions
bool	detectWithPnP (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

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Detailed Description

Definition at line 49 of file Surf3DDetector.h.

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Constructor & Destructor Documentation

Surf3DDetector::Surf3DDetector

(

)

[inline]

Definition at line 54 of file Surf3DDetector.h.

virtual Surf3DDetector::~Surf3DDetector

(

)

[inline, virtual]

Definition at line 59 of file Surf3DDetector.h.

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Member Function Documentation

void Surf3DDetector::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 74 of file Surf3DDetector.cpp.

bool Surf3DDetector::detectWithPnP	(	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 pnp

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 159 of file Surf3DDetector.cpp.

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Member Data Documentation

std::string Surf3DDetector::m_debug_prefix [protected]

times ::detect has been called

Definition at line 104 of file Surf3DDetector.h.

int Surf3DDetector::m_detect_counter [protected]

Definition at line 103 of file Surf3DDetector.h.

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

• Surf3DDetector.h
• Surf3DDetector.cpp