#include <SegmentableRecognition.h>

Public Member Functions
bool	AddClass (const std::string &classPath)
	CSegmentableRecognition ()
void	DoRecognition (const CByteImage const ppInputImages, CByteImage **ppResultImages, int nMinPixelsPerRegion, bool bBlobsOnly=false, float fMaxEpipolarDistance=10, ObjectColor color=eNone, bool bTrack=false, bool bInputImagesAreUndistorted=false)
void	DoRecognitionSingleObject (const CByteImage const ppInputImages, CByteImage *ppResultImages, const char pObjectName, int nMinPixelsPerRegion, float fMaxEpipolarDistance=10, ObjectColor color=eNone, bool bTrack=false, bool bInputImagesAreUndistorted=false)
const CColorParameterSet *	GetColorParameterSet ()
const Object3DList &	GetObject3DList ()
CSegmentableDatabase *	GetObjectDatabase ()
const CStereoCalibration *	GetStereoCalibration ()
bool	Init (const char pColorParameterFile, const char pCameraParameterFileDeprecated, const char pCameraParameterFile, const char pObjectDatabaseConfigurationFile, const char *pDataPathPrefix=0)
bool	Init (CColorParameterSet pColorParameterSet, CStereoCalibration pStereoCalibration, const char *pObjectDatabaseConfigurationFile)
bool	InitWithoutDatabase (CColorParameterSet pColorParameterSet, CStereoCalibration pStereoCalibration)
void	SetRecognitionThresholds (float fSizeRatioThreshold, float fCorrelationThreshold)
void	SetStereoCalibration (CStereoCalibration *pStereoCalibration)
void	SetVerbose (bool bVerbose)
	~CSegmentableRecognition ()
Private Member Functions
void	_DoRecognition (const CByteImage const ppInputImages, CByteImage *ppResultImages, const char pObjectName=0, int nMinPixelsPerRegion=500, bool bBlobsOnly=false, float fMaxEpipolarDistance=10, ObjectColor color=eNone, bool bTrack=false, bool bInputImagesAreUndistorted=false)
void	FindAndClassifyBlobs (CObjectFinderStereo pObjectFinderStereo, const CByteImage const ppInputImages, CByteImage pResultImages, CByteImage pGrayImage, const char *pObjectName, ObjectColor color, int nMinPixelsPerRegion, bool bBlobsOnly, float fMaxEpipolarDistance, bool bInputImagesAreUndistorted)
void	PostProcessResultList ()
bool	RecognizeAndLocalizeObject (CByteImage pGrayImage, Object3DEntry &entry, const char pObjectName)
Private Attributes
bool	m_bVerbose
Object3DList	m_object3DList
CColorParameterSet *	m_pColorParameterSet
CRegionFilterInterface *	m_pCompactRegionFilter
CByteImage *	m_pGrayImageBig
CByteImage *	m_pGrayImageSmall
CObjectFinderStereo *	m_pObjectFinderStereo
CSegmentableDatabase *	m_pSegmentableDatabase

Detailed Description

Definition at line 43 of file SegmentableRecognition.h.

Constructor & Destructor Documentation

CSegmentableRecognition::CSegmentableRecognition ( )

CSegmentableRecognition::~CSegmentableRecognition ( )

Member Function Documentation

void CSegmentableRecognition::_DoRecognition	(	const CByteImage const	ppInputImages,
		CByteImage **	ppResultImages,
		const char *	pObjectName = `0`,
		int	nMinPixelsPerRegion = `500`,
		bool	bBlobsOnly = `false`,
		float	fMaxEpipolarDistance = `10`,
		ObjectColor	color = `eNone`,
		bool	bTrack = `false`,
		bool	bInputImagesAreUndistorted = `false`
	)		`[private]`

bool CSegmentableRecognition::AddClass ( const std::string & classPath )

Adds a object class to segmentablerecognition which is loaded from the given classPath

Parameters:

classPath path to data files for sementable objects

void CSegmentableRecognition::DoRecognition	(	const CByteImage const	ppInputImages,
		CByteImage **	ppResultImages,
		int	nMinPixelsPerRegion,
		bool	bBlobsOnly = `false`,
		float	fMaxEpipolarDistance = `10`,
		ObjectColor	color = `eNone`,
		bool	bTrack = `false`,
		bool	bInputImagesAreUndistorted = `false`
	)

Perform recognition for all objects in the database

Parameters:

ppInputImages	left and right RGB images in the correct size
ppResultImages	visualization images can be NULL
nMinPixelsPerRegion	minimum number of pixels to accept region
bBlobsOnly	only detect blobs, do not perform recognition and localization
fMaxEpipolarDistance	maximum distance to epipolar line in order to accept match
color	objects of which color (eNone means all colors: eRed, eRed2, eBlue, eBlue2, eGreen, eGreen2)
bTrack	track objects over successive frames
bInputImagesAreUndistorted	whether input images have been undistorted

void CSegmentableRecognition::DoRecognitionSingleObject	(	const CByteImage const	ppInputImages,
		CByteImage **	ppResultImages,
		const char *	pObjectName,
		int	nMinPixelsPerRegion,
		float	fMaxEpipolarDistance = `10`,
		ObjectColor	color = `eNone`,
		bool	bTrack = `false`,
		bool	bInputImagesAreUndistorted = `false`
	)

Perform recognition for a single object

Parameters:

ppInputImages	left and right RGB images in the correct size
ppResultImages	visualization images can be NULL
pObjectName	name of the object to recognize
nMinPixelsPerRegion	minimum number of pixels to accept region
bBlobsOnly	only detect blobs, do not perform recognition and localization
fMaxEpipolarDistance	maximum distance to epipolar line in order to accept match
color	objects of which color (eNone means all colors: eRed, eRed2, eBlue, eBlue2, eGreen, eGreen2)
bTrack	track objects over successive frames
bInputImagesAreUndistorted	whether input images have been undistorted

void CSegmentableRecognition::FindAndClassifyBlobs	(	CObjectFinderStereo *	pObjectFinderStereo,
		const CByteImage const	ppInputImages,
		CByteImage **	pResultImages,
		CByteImage *	pGrayImage,
		const char *	pObjectName,
		ObjectColor	color,
		int	nMinPixelsPerRegion,
		bool	bBlobsOnly,
		float	fMaxEpipolarDistance,
		bool	bInputImagesAreUndistorted
	)		`[private]`

const CColorParameterSet* CSegmentableRecognition::GetColorParameterSet ( ) [inline]

Retrieve current color parameter set

Returns:: pointer to color parameter set

Definition at line 159 of file SegmentableRecognition.h.

const Object3DList& CSegmentableRecognition::GetObject3DList ( ) [inline]

Retrieve objects recognized in the last recognition step

Returns:: list of Object3DEntry containing recognized objects

Definition at line 145 of file SegmentableRecognition.h.

CSegmentableDatabase* CSegmentableRecognition::GetObjectDatabase ( ) [inline]

Retrieve pointer to object database

Returns:: pointer to object database

Definition at line 166 of file SegmentableRecognition.h.

const CStereoCalibration* CSegmentableRecognition::GetStereoCalibration ( )

Retrieve current stereo calibration

Returns:: pointer to stereo calibration

bool CSegmentableRecognition::Init	(	const char *	pColorParameterFile,
		const char *	pCameraParameterFileDeprecated,
		const char *	pCameraParameterFile,
		const char *	pObjectDatabaseConfigurationFile,
		const char *	pDataPathPrefix = `0`
	)

Init the segmentable recognition.

Parameters:

pColorParameterFile	relative or absolute path to colors file
pCameraParameterFileDeprecated	leave empty
pCameraParameterFile	relative or absolute path to calibration file
pObjectDatabaseConfigurationFile	relative or absolute path to configuration file for segmentable recognition
pDataPathPrefix	prefix added to all paths in the database configuration file. Allows to keep database file and object data in separate paths.

bool CSegmentableRecognition::Init	(	CColorParameterSet *	pColorParameterSet,
		CStereoCalibration *	pStereoCalibration,
		const char *	pObjectDatabaseConfigurationFile
	)

Init the segmentable recognition.

Parameters:

pColorParameterSet	color parameter set
pStereoCalibration	stereo calibration
pObjectDatabaseConfigurationFile	relative or absolute path to configuration file for segmentable recognition

bool CSegmentableRecognition::InitWithoutDatabase	(	CColorParameterSet *	pColorParameterSet,
		CStereoCalibration *	pStereoCalibration
	)

Init the segmentable recognition without reading database. Use this initialization if classes are to be added later with AddClass()

Parameters:

pColorParameterSet	color parameter set
pStereoCalibration	stereo calibration

void CSegmentableRecognition::PostProcessResultList ( ) [private]

bool CSegmentableRecognition::RecognizeAndLocalizeObject	(	CByteImage *	pGrayImage,
		Object3DEntry &	entry,
		const char *	pObjectName
	)		`[private]`

void CSegmentableRecognition::SetRecognitionThresholds	(	float	fSizeRatioThreshold,
		float	fCorrelationThreshold
	)

Override default recognition thresholds

Parameters:

fSizeRatioThreshold	size ratio between original and detected object (defaults to 0.8)
fCorrelationThreshold	minimum correlation between segmented mask and rendered model (defaults to 0.85)

void CSegmentableRecognition::SetStereoCalibration ( CStereoCalibration * pStereoCalibration )

Override stereo calibration as set in Init.

Parameters:

pStereoCalibration a stereo calibration pointer

void CSegmentableRecognition::SetVerbose ( bool bVerbose )

Enable verbose mode

Parameters:

bVerbose make segmentable recognition verbose