#include <ODetect3D.hh>

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)
void	FitModelRANSAC_GPU (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

Detailed Description

Definition at line 25 of file ODetect3D.hh.

Constructor & Destructor Documentation

P::ODetect3D::ODetect3D ( )

Definition at line 30 of file ODetect3D.cc.

P::ODetect3D::~ODetect3D ( )

Definition at line 50 of file ODetect3D.cc.

Member Function Documentation

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

ComputeConfidence

Definition at line 517 of file ODetect3D.cc.

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

Definition at line 115 of file ODetect3D.hh.

void P::ODetect3D::DeletePairs ( Array< KeyClusterPair * > & matches ) [private]

DeletePairs

Definition at line 61 of file ODetect3D.cc.

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

Simple RANSAC based 3d object detector

Definition at line 560 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 640 of file ODetect3D.cc.

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

Verify object model

Definition at line 327 of file ODetect3D.cc.

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

Definition at line 238 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 399 of file ODetect3D.cc.

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

Count inlier

Definition at line 200 of file ODetect3D.cc.

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

GetRandIdx

Definition at line 184 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 115 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 73 of file ODetect3D.cc.

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