CSegmentableRecognition Class Reference

#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

Member Data Documentation

bool CSegmentableRecognition::m_bVerbose

private

Definition at line 201 of file SegmentableRecognition.h.

Object3DList CSegmentableRecognition::m_object3DList

private

Definition at line 199 of file SegmentableRecognition.h.

CColorParameterSet* CSegmentableRecognition::m_pColorParameterSet

private

Definition at line 197 of file SegmentableRecognition.h.

CRegionFilterInterface* CSegmentableRecognition::m_pCompactRegionFilter

private

Definition at line 188 of file SegmentableRecognition.h.

CByteImage* CSegmentableRecognition::m_pGrayImageBig

private

Definition at line 194 of file SegmentableRecognition.h.

CByteImage* CSegmentableRecognition::m_pGrayImageSmall

private

Definition at line 195 of file SegmentableRecognition.h.

CObjectFinderStereo* CSegmentableRecognition::m_pObjectFinderStereo

private

Definition at line 190 of file SegmentableRecognition.h.

CSegmentableDatabase* CSegmentableRecognition::m_pSegmentableDatabase

private

Definition at line 192 of file SegmentableRecognition.h.

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

• SegmentableRecognition.h