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

#include <Recognizer3D.h>

Public Member Functions
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
void	initTrainingModel ()
	Creates a model for the training phase.
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, std::map< std::string, boost::shared_ptr< TomGine::tgPose > > &poses, std::map< std::string, double > &confs)
	recognizes a object by using the loaded sift model file
bool	recognize (IplImage *tFrame, std::map< std::string, boost::shared_ptr< TomGine::tgPose > > &poses, std::map< std::string, double > &confs, const std::map< std::string, bool > &select)
	recognizes a object by using the loaded sift model file
	Recognizer3D (const CameraParameter &camParam, std::string config_root="", bool display=false, bool training=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< Siftex >	m_lastsiftexlist
bool	m_model_loaded
P::ModelObject3D	m_sift_model_learner
std::vector< boost::shared_ptr < P::Object3D > >	m_sift_models
std::vector< Siftex >	m_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`,
		bool	training = `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 56 of file Recognizer3D.cpp.

Recognizer3D::~Recognizer3D ( )

Definition at line 122 of file Recognizer3D.cpp.

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

Member Function Documentation

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

Definition at line 40 of file Recognizer3D.cpp.

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

Definition at line 116 of file Recognizer3D.h.

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

Definition at line 109 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 106 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 101 of file Recognizer3D.h.

void Recognizer3D::initTrainingModel ( )

Creates a model for the training phase.

Definition at line 414 of file Recognizer3D.cpp.

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 284 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 404 of file Recognizer3D.cpp.

bool Recognizer3D::recognize	(	IplImage *	tFrame,
		std::map< std::string, boost::shared_ptr< TomGine::tgPose > > &	poses,
		std::map< std::string, double > &	confs
	)

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 168 of file Recognizer3D.cpp.

bool Recognizer3D::recognize	(	IplImage *	tFrame,
		std::map< std::string, boost::shared_ptr< TomGine::tgPose > > &	poses,
		std::map< std::string, double > &	confs,
		const std::map< std::string, bool > &	select
	)

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
select	objects in this vector will be recognized