CTexturedRecognition Class Reference

#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

Member Data Documentation

bool CTexturedRecognition::m_bVerbose

private

Definition at line 158 of file TexturedRecognition.h.

int CTexturedRecognition::m_nImageHeight

private

Definition at line 156 of file TexturedRecognition.h.

int CTexturedRecognition::m_nImageWidth

private

Definition at line 155 of file TexturedRecognition.h.

CHarrisSIFTFeatureCalculator* CTexturedRecognition::m_pFeatureCalculator

private

Definition at line 151 of file TexturedRecognition.h.

CTexturedObjectDatabase* CTexturedRecognition::m_pObjectDatabase

private

Definition at line 150 of file TexturedRecognition.h.

CByteImage* CTexturedRecognition::m_ppGrayImages[2]

private

Definition at line 153 of file TexturedRecognition.h.

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

• TexturedRecognition.h