#include <TexturedRecognition.h>

Public Member Functions
	CTexturedRecognition (int nImageWidth, int nImageHeight, float fSIFTThreshold=0)
void	DoRecognition (const CByteImage const ppInputImages, CByteImage **ppResultImages, bool bLocalizeWithStereo=false, int nUseKdTree=0, bool bInputImagesAreUndistorted=false)
void	DoRecognitionSingleObject (const CByteImage const ppInputImages, CByteImage *ppResultImages, const char pObjectName, bool bLocalizeWithStereo=false, int nUseKdTree=0, bool bInputImagesAreUndistorted=false)
const Object3DList &	GetObject3DList ()
CTexturedObjectDatabase *	GetObjectDatabase ()
bool	Init (const char pObjectDatabaseFilePath, const char pCameraParameterFileName=0, const char *pDataFilePath=0)
bool	Init (const char pObjectDatabaseFilePath, CStereoCalibration pStereoCalibration, bool bCloneCalibration, const char *pDataFilePath=0)
void	SetQualityThreshold (float fQualityThreshold)
void	SetRecognitionThresholds (int nMinValidFeatures, float fMaxError)
void	SetStereo (bool bStereo)
void	SetVerbose (bool bVerbose)
	~CTexturedRecognition ()
Private Member Functions
void	_DoRecognition (const CByteImage const ppInputImages, CByteImage *ppResultImages, const char pObjectName, bool bLocalizeWithStereo, int nUseKdTree, bool bInputImagesAreUndistorted)
Private Attributes
bool	m_bVerbose
int	m_nImageHeight
int	m_nImageWidth
CHarrisSIFTFeatureCalculator *	m_pFeatureCalculator
CTexturedObjectDatabase *	m_pObjectDatabase
CByteImage *	m_ppGrayImages [2]

Detailed Description

Definition at line 40 of file TexturedRecognition.h.

Constructor & Destructor Documentation

CTexturedRecognition::CTexturedRecognition	(	int	nImageWidth,
		int	nImageHeight,
		float	fSIFTThreshold = `0`
	)

Construct CTexturedRecognition

Parameters:

nImageWidth	width of image
nImageHeight	height of image
fSIFTThreshold	threshold for extracting harris interest points (default is 0.01)

CTexturedRecognition::~CTexturedRecognition ( )

Member Function Documentation

void CTexturedRecognition::_DoRecognition	(	const CByteImage const	ppInputImages,
		CByteImage **	ppResultImages,
		const char *	pObjectName,
		bool	bLocalizeWithStereo,
		int	nUseKdTree,
		bool	bInputImagesAreUndistorted
	)		`[private]`

void CTexturedRecognition::DoRecognition	(	const CByteImage const	ppInputImages,
		CByteImage **	ppResultImages,
		bool	bLocalizeWithStereo = `false`,
		int	nUseKdTree = `0`,
		bool	bInputImagesAreUndistorted = `false`
	)

Do recognition of all known objects

Parameters:

ppInputImages	left and right RGB images in the correct size
ppResultImages	visualization images can be NULL
bLocalizeWithStereo	needs to be true of stereo localization is used

See also:: SetStereo()

Parameters:

nUseKdTree	whether to use KdTree for search (default is 0 - no)
bInputImagesAreUndistorted	whether input images have been undistorted

void CTexturedRecognition::DoRecognitionSingleObject	(	const CByteImage const	ppInputImages,
		CByteImage **	ppResultImages,
		const char *	pObjectName,
		bool	bLocalizeWithStereo = `false`,
		int	nUseKdTree = `0`,
		bool	bInputImagesAreUndistorted = `false`
	)

Do recognition of all known objects

Parameters:

ppInputImages	left and right RGB images in the correct size
ppResultImages	visualization images can be NULL
pObjectName	name of the object to recognize
bLocalizeWithStereo	needs to be true of stereo localization is used

See also:: SetStereo()

Parameters:

nUseKdTree	whether to use KdTree for search (default is 0 - no)
bInputImagesAreUndistorted	whether input images have been undistorted

const Object3DList& CTexturedRecognition::GetObject3DList ( )

Retrieve objects recognized in the last recognition step

Returns:: list of Object3DEntry containing recognized objects

CTexturedObjectDatabase* CTexturedRecognition::GetObjectDatabase ( ) [inline]

Retrieve object database

Returns:: object database

Definition at line 141 of file TexturedRecognition.h.

bool CTexturedRecognition::Init	(	const char *	pObjectDatabaseFilePath,
		const char *	pCameraParameterFileName = `0`,
		const char *	pDataFilePath = `0`
	)

Init textured recognition and load calibration from file

Parameters:

pObjectDatabaseFilePath	relative or absolute path to configuration file for textured recognition
pCameraParameterFileName	relative or absolute path to camera calibration file
pDataFilePathPrefix	path prefix for entries in configuration file

bool CTexturedRecognition::Init	(	const char *	pObjectDatabaseFilePath,
		CStereoCalibration *	pStereoCalibration,
		bool	bCloneCalibration,
		const char *	pDataFilePath = `0`
	)

Init textured recognition

Parameters:

pObjectDatabaseFilePath	relative or absolute path to configuration file for textured recognition
pStereoCalibration	pointer to stereo calibration
pDataFilePathPrefix	path prefix for entries in configuration file

void CTexturedRecognition::SetQualityThreshold ( float fQualityThreshold )

Set quality threshold for Harris interest point calculation (defaults to 0.01). Smaller means more features.

Parameters:

fQualityThreshold the quality threshols

void CTexturedRecognition::SetRecognitionThresholds	(	int	nMinValidFeatures,
		float	fMaxError
	)

Set recognition threshold

Parameters:

nMinValidFeatures	minimum number of features in Houghspace (default is 10)
fMaxError	maximum error after application of homography on valid features (default is 3.3f)

void CTexturedRecognition::SetStereo ( bool bStereo )

Set stereo localization (default is true).

Parameters:

bStereo 3D-3D localization if true - 2D-3D localization if false

void CTexturedRecognition::SetVerbose ( bool bVerbose )

Enable verbose mode

Parameters:

bVerbose make textured recognition verbose