#include <Recognizer.hpp>

Public Member Functions
void	arrangePatternsAccordingToTreeHeight ()

void	clearData ()

PatternNameAndVotingSpaceTuple	getBufferedVotingSpace ()

std::map< ObjectPtr, std::vector< VotedPosePtr > >	getVotingCache ()

const std::vector< RecognitionResultPtr >	recognizePattern (const ObjectSetPtr &objectSet, const double filterThreshold=0.0, const int resultsPerPattern=-1, const std::string targetPatternName="")

	Recognizer (const std::string &dbfilename, double bin_size, double maxProjectionAngleDeviation, bool enabledSelfVoteCheck, int raterType=0)

void	setObjectTypes (std::set< std::string > objectTypes)

void	setPatternDefinitions (ISM::PatternNameToPatternMap patternDefinitions)

void	setVoteSpecifiersPerObject (ISM::ObjectTypeToVoteMap voteSpecifiersPerObject)

void	setVotingSpaceToBeBuffered (std::string patternName)

Private Member Functions
PosePtr	calculatePoseFromVote (const PosePtr &pose, const VoteSpecifierPtr &vote) const

void	calculateVotedPosesForAllObjects ()

void	fillAndEvalVotingSpaceAtTreeHeight (unsigned int treeHeight)

void	getPatternDefinitions ()

int	objectAlreadyInSet (const ObjectPtr &o)

int	resultAlreadyExisting (const RecognitionResultPtr &res)

Static Private Member Functions
static std::vector< RecognitionResultPtr >	assembleIsmTrees (const std::vector< RecognitionResultPtr > &ismResults, const double filterThreshold, const int resultsPerPattern, const std::string targetPatternName)

static std::vector< RecognitionResultPtr >	getSubPatternsForResult (RecognitionResultPtr result, std::map< std::string, std::vector< RecognitionResultPtr > > patternNameToResults)

Private Attributes
double	bin_size

bool	enabledSelfVoteCheck

ObjectSetPtr	inputSet

std::vector< RecognitionResultPtr >	ismResults

double	maxProjectionAngleDeviation

const int	mRaterType

std::set< std::string >	objectTypes

PatternNameToPatternMap	patternDefinitions

std::string	patternForVotingSpaceViz

TreeHeightToPatternName	patternPerTreeHeight

PatternNameToVotedPoses	patternToVotedPoses

TableHelperPtr	tableHelper

ObjectTypeToVoteMap	voteSpecifiersPerObject

std::map< ObjectPtr, std::vector< VotedPosePtr > >	votingCache

PatternNameAndVotingSpaceTuple	votingSpaceBuffer

Detailed Description

Recognizer class. Class in which scene recognition with (non-)hierarchical isms is performed based on a hough voting scheme and vote backprojection. See Meissner et al. 2013 in Section IV and V (B).

Definition at line 35 of file Recognizer.hpp.

Constructor & Destructor Documentation

ISM::Recognizer::Recognizer	(	const std::string &	dbfilename,
		double	bin_size,
		double	maxProjectionAngleDeviation,
		bool	enabledSelfVoteCheck,
		int	raterType = `0`
	)

Create recognition interface to an sqlite db.

Parameters

dbfilename	File containing scenes we want to be able to detect with this recognizer.
bin_size	Side length of cubes (bins) making up voxel grid in which hough voting is performed. Maximal accepted distance between scene reference hypotheses of different objects in a bin.
maxProjectionAngleDeviation	Maximal accepted difference in orientations of scene reference hypotheses of different objects in a bin.
enabledSelfVoteCheck	Self-Vote-Check: Ensures the use of votedPose from a selfvoting object as originForFitting, if such an object exist.
raterType	Objective function that is used for rating how well votedPoses in voxel grid match each other (especially in recognition results).

Definition at line 37 of file Recognizer.cpp.

Member Function Documentation

void ISM::Recognizer::arrangePatternsAccordingToTreeHeight ( )

Definition at line 263 of file Recognizer.cpp.

std::vector< RecognitionResultPtr > ISM::Recognizer::assembleIsmTrees	(	const std::vector< RecognitionResultPtr > &	ismResults,
		const double	filterThreshold,
		const int	resultsPerPattern,
		const std::string	targetPatternName
	)

staticprivate

Definition at line 355 of file Recognizer.cpp.

PosePtr ISM::Recognizer::calculatePoseFromVote	(	const PosePtr &	pose,
		const VoteSpecifierPtr &	vote
	)		const

private

Definition at line 243 of file Recognizer.cpp.

void ISM::Recognizer::calculateVotedPosesForAllObjects ( )

private

Definition at line 69 of file Recognizer.cpp.

void ISM::Recognizer::clearData ( )

inline

Definition at line 123 of file Recognizer.hpp.

void ISM::Recognizer::fillAndEvalVotingSpaceAtTreeHeight ( unsigned int treeHeight )

private

Definition at line 140 of file Recognizer.cpp.

PatternNameAndVotingSpaceTuple ISM::Recognizer::getBufferedVotingSpace ( )

inline

Definition at line 140 of file Recognizer.hpp.

void ISM::Recognizer::getPatternDefinitions ( )

private

Definition at line 248 of file Recognizer.cpp.

std::vector< RecognitionResultPtr > ISM::Recognizer::getSubPatternsForResult	(	RecognitionResultPtr	result,
		std::map< std::string, std::vector< RecognitionResultPtr > >	patternNameToResults
	)

staticprivate

Definition at line 419 of file Recognizer.cpp.

std::map<ObjectPtr, std::vector<VotedPosePtr> > ISM::Recognizer::getVotingCache ( )

inline

Definition at line 96 of file Recognizer.hpp.

int ISM::Recognizer::objectAlreadyInSet ( const ObjectPtr & o )

private

Definition at line 232 of file Recognizer.cpp.

const std::vector< RecognitionResultPtr > ISM::Recognizer::recognizePattern	(	const ObjectSetPtr &	objectSet,
		const double	filterThreshold = `0.0`,
		const int	resultsPerPattern = `-1`,
		const std::string	targetPatternName = `""`
	)

Find instances of scenes (or scene models) loaded beforehand in a spatial configuration of objects provided to this method. Returns hypotheses on existing scenes as subsets of that configuration that match a model during scene recognition by our hough voting scheme. Hyptheses are rated by confidences being the percentage of objects in the scene we detected in the provided object configuration.

Parameters

objectSet	Object configuration in which scenes are tried to be detected.
filterThreshold	Minimum confidence that a recognition result must dispose of, to be returned.
resultsPerPattern	Maximum number of recognition results for each scene in db loaded beforehand.
patternName	name of pattern which should be recognized.

Returns: Recognition results in decreasing order of confidence.

Definition at line 47 of file Recognizer.cpp.

int ISM::Recognizer::resultAlreadyExisting ( const RecognitionResultPtr & res )

private

Definition at line 220 of file Recognizer.cpp.

void ISM::Recognizer::setObjectTypes ( std::set< std::string > objectTypes )

inline

Definition at line 108 of file Recognizer.hpp.

void ISM::Recognizer::setPatternDefinitions ( ISM::PatternNameToPatternMap patternDefinitions )

inline

Definition at line 113 of file Recognizer.hpp.

void ISM::Recognizer::setVoteSpecifiersPerObject ( ISM::ObjectTypeToVoteMap voteSpecifiersPerObject )

inline

Definition at line 103 of file Recognizer.hpp.

void ISM::Recognizer::setVotingSpaceToBeBuffered ( std::string patternName )

inline

Definition at line 135 of file Recognizer.hpp.

Member Data Documentation

double ISM::Recognizer::bin_size

private

Definition at line 43 of file Recognizer.hpp.

bool ISM::Recognizer::enabledSelfVoteCheck

private

Definition at line 59 of file Recognizer.hpp.

ObjectSetPtr ISM::Recognizer::inputSet

private

Definition at line 40 of file Recognizer.hpp.

std::vector<RecognitionResultPtr> ISM::Recognizer::ismResults

private

Definition at line 64 of file Recognizer.hpp.

double ISM::Recognizer::maxProjectionAngleDeviation

private

Definition at line 44 of file Recognizer.hpp.

const int ISM::Recognizer::mRaterType

private

Definition at line 62 of file Recognizer.hpp.

std::set<std::string> ISM::Recognizer::objectTypes

private

Definition at line 47 of file Recognizer.hpp.

PatternNameToPatternMap ISM::Recognizer::patternDefinitions

private

Definition at line 52 of file Recognizer.hpp.

std::string ISM::Recognizer::patternForVotingSpaceViz

private

Definition at line 68 of file Recognizer.hpp.

TreeHeightToPatternName ISM::Recognizer::patternPerTreeHeight

private

Definition at line 55 of file Recognizer.hpp.

PatternNameToVotedPoses ISM::Recognizer::patternToVotedPoses

private

Definition at line 57 of file Recognizer.hpp.

TableHelperPtr ISM::Recognizer::tableHelper

private

Definition at line 38 of file Recognizer.hpp.

ObjectTypeToVoteMap ISM::Recognizer::voteSpecifiersPerObject

private

Definition at line 50 of file Recognizer.hpp.

std::map<ObjectPtr, std::vector<VotedPosePtr> > ISM::Recognizer::votingCache

private

Definition at line 66 of file Recognizer.hpp.

PatternNameAndVotingSpaceTuple ISM::Recognizer::votingSpaceBuffer

private

Definition at line 70 of file Recognizer.hpp.

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

Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation