planar_object_recognizer Class Reference

Planar object detector. More...

#include <planar_object_recognizer.h>

Collaboration diagram for planar_object_recognizer:

Public Member Functions
	planar_object_recognizer ()
	empty constructor. call build, load or buildWithCache before use
	planar_object_recognizer (string directory_name)
	Create from the data stored in the directory directory_name.
	~planar_object_recognizer (void)
bool	build_with_cache (string filename, int max_point_number_on_model, int patch_size, int yape_radius, int tree_number, int nbLev, LEARNPROGRESSION LearnProgress=0)
	Build the model and save it on disk.
bool	build (IplImage *model_image, int max_point_number_on_model, int patch_size, int yape_radius, int tree_number, int nbLev, LEARNPROGRESSION LearnProgress=0, int *roi=0)
void	learn (int max_point_number_on_model, int patch_size, int yape_radius, int tree_number, int nbLev=5, LEARNPROGRESSION LearnProgress=0)
	Create the point recognizer (see forest field)
void	save (string directory_name)
	Save data in the given directory. The directory must exist.
bool	load (string directory_name)
	load data from a given directory.
bool	detect (IplImage *input_image)
	Detect the object in the given input image.
void	set_max_detected_pts (int max)
	set the maximum number of points we want to detect
IplImage *	create_result_image (IplImage *input_image, bool p_draw_points, bool p_draw_matches, bool p_draw_object, bool p_draw_model_image, int line_width=2)
	For visualization.
void	debug_model_point (int p_index_of_model_point_to_debug)
	For debugging: save generated patches for a particular point in dir patches, before and after orientation correction.
void	save_one_image_per_match (IplImage *input_image, const char *matches_dir)
	For debugging: save one image per match in dir matches.
void	save_one_image_per_match_model_to_input (IplImage *input_image, const char *matches_dir)
void	save_one_image_per_match_input_to_model (IplImage *input_image, const char *matches_dir)
void	initialize (void)
	Function called by the 2 constructors.
pair< object_keypoint, int > *	search_for_existing_model_point (vector< pair< object_keypoint, int > > *tmp_model_points, float cu, float cv, int scale)
void	detect_most_stable_model_points (int max_point_number_on_model, int patch_size, int view_number, double min_view_rate, LEARNPROGRESSION LearnProgress=0)
void	save_image_of_model_points (int patch_size, char *filename=0)
int	compute_support_for_affine_transformation (affinity *A)
bool	three_random_correspondences (int *n1, int *n2, int *n3)
bool	valid (affinity *A)
void	default_settings (void)
	Some parameters for fine tuning: Called by the 2 constructors.
void	check_target_size (IplImage *image)
Functions called by the detect() function
void	detect_points (IplImage *input_image)
void	preprocess_points (void)
void	match_points (bool fill_match_struct=true)
bool	estimate_affine_transformation (void)
bool	estimate_homographic_transformation_linear_method (void)
bool	estimate_homographic_transformation_nonlinear_method (void)

Public Attributes
object_keypoint *	model_points
	keypoints on the object.
int	model_point_number
keypoint *	detected_points
	Detected keypoints in the input image.
int	detected_point_number
image_class_example *	detected_point_views
float *	match_probabilities [hard_max_detected_pts]
	Match probabilities for each detected keypoint.
image_object_point_match	matches [hard_max_detected_pts]
	Matches between the detected keypoints, and the model keypoints.
int	match_number
bool	object_is_detected
affinity *	affine_motion
homography *	H
ls_minimizer2 *	homography_estimator
float	detected_u_corner1
float	detected_v_corner1
float	detected_u_corner2
float	detected_v_corner2
float	detected_u_corner3
float	detected_v_corner3
float	detected_u_corner4
float	detected_v_corner4
pyr_yape *	point_detector
affine_image_generator	new_images_generator
object_view *	object_input_view
image_classification_forest *	forest
	Image classifier.
int	max_detected_pts
int	max_depth
bool	use_bins_for_model_points
bool	use_bins_for_input_image
int	index_of_model_point_to_debug
int	views_number
	number of generated views for finding stable points
double	min_view_rate
	minimum visible rate for determining stable keypoints
double	keypoint_distance_threshold
float	match_score_threshold
float	ransac_dist_threshold
float	non_linear_refine_threshold
	Distance threshold, in pixels, for non-linear refinement.
int	max_ransac_iterations
	maximum iteration number for RANSAC
int	ransac_stop_support

Functions for fine tuning:
int	sample_number_for_refining
void	use_bins_when_creating_model_points (void)
	Activate bins when detecting model points (Default)
void	dont_use_bins_when_creating_model_points (void)
	Disactivate bins when detecting model points.
void	use_bins_when_detecting_input_image_points (void)
	Activate bins when detecting input image points (Default)
void	dont_use_bins_when_detecting_input_image_points (void)
	Disactivate bins when detecting model points.
void	set_noise_level (int noise_level)
	Default = 20.
void	set_use_random_background (bool use_random_background)
	Default = false;.
void	set_range_variation_for_theta (float min_theta, float max_theta)
	Global rotation. Default = [0 : 2Pi].
void	set_range_variation_for_phi (float min_phi, float max_phi)
	Skew. Default = [0 : Pi].
void	independent_scaling (float min_lambda1, float max_lambda1, float min_lambda2, float max_lambda2)
	Default method. Between 0.5 : 1.5 for both.
void	constrained_scaling (float min_lambda1, float max_lambda1, float min_lambda2, float max_lambda2, float min_l1_l2, float max_l1_l2)
	Constrained scaling. Adds a constraint on the range of the product of l1 and l2.
void	use_orientation_correction (void)
	Default method.
void	dont_use_orientation_correction (void)
void	set_max_depth (int p_max_depth)
	Default = 10.
void	set_sample_number_for_refining (int sample_number)
	Sample number for the refine step (default = 1000):
IplImage *	model_and_input_images
int	x0
int	y0
int	u_input_image
int	v_input_image
void	save_patch_before_and_after_correction (IplImage *image, int u, int v, int patch_size, image_class_example *pv, int point_index, int call_number)
	The following functions are useful for visualization only:
void	concat_model_and_input_images (IplImage *input_image, bool p_draw_model_image=true)
void	draw_points (int line_width=1)
void	draw_model_points (int line_width=1)
void	draw_input_image_points (int line_width=1)
void	draw_matches (int line_width=2)
void	draw_inlier_matches (int line_width=1)
void	draw_model (void)

Detailed Description

Planar object detector.

This class can learn a planar surface and recognize its feature points on a new image.

Examples:

augment3d.cpp, filedetect.cpp, fullcalib.cpp, multicam.cpp, multigl.cpp, and singlecalib.cpp.

Definition at line 49 of file planar_object_recognizer.h.

Constructor & Destructor Documentation

planar_object_recognizer::planar_object_recognizer

(

)

empty constructor. call build, load or buildWithCache before use

Definition at line 35 of file planar_object_recognizer.cpp.

References hard_max_detected_pts.

planar_object_recognizer::planar_object_recognizer

(

string

directory_name

)

Create from the data stored in the directory directory_name.

Definition at line 204 of file planar_object_recognizer.cpp.

planar_object_recognizer::~planar_object_recognizer

(

void

)

Definition at line 312 of file planar_object_recognizer.cpp.

References hard_max_detected_pts.

Member Function Documentation

bool planar_object_recognizer::build	(	IplImage *	model_image,
		int	max_point_number_on_model,
		int	patch_size,
		int	yape_radius,
		int	tree_number,
		int	nbLev,
		LEARNPROGRESSION	LearnProgress = 0,
		int *	roi = 0
	)

Build a classifier from the given model image. The result is not saved.

Returns

true on success, false on failure.

Examples:

singlecalib.cpp.

Definition at line 128 of file planar_object_recognizer.cpp.

Referenced by acquire_model(), CalibModel::buildCached(), and main().

bool planar_object_recognizer::build_with_cache	(	string	filename,
		int	max_point_number_on_model,
		int	patch_size,
		int	yape_radius,
		int	tree_number,
		int	nbLev,
		LEARNPROGRESSION	LearnProgress = 0
	)

Build the model and save it on disk.

Returns

true on success, false on failure

Examples:

augment3d.cpp, filedetect.cpp, and singlecalib.cpp.

Definition at line 165 of file planar_object_recognizer.cpp.

References mcvLoadImage().

Referenced by CalibModel::buildCached(), and main().

void planar_object_recognizer::check_target_size

(

IplImage *

image

)

Ensures that allocated resources are ready to handle an image of the given size.

Definition at line 1367 of file planar_object_recognizer.cpp.

int planar_object_recognizer::compute_support_for_affine_transformation

(

affinity *

A

)

Definition at line 568 of file planar_object_recognizer.cpp.

References PyrImage::convCoordf(), image_object_point_match::image_point, image_object_point_match::inlier, object_keypoint::M, image_object_point_match::object_point, RANSAC_DIST_THRESHOLD, object_keypoint::scale, keypoint::scale, affinity::transform_point(), keypoint::u, and keypoint::v.

void planar_object_recognizer::concat_model_and_input_images	(	IplImage *	input_image,
		bool	p_draw_model_image = true
	)

Definition at line 1266 of file planar_object_recognizer.cpp.

References mcvPut().

void planar_object_recognizer::constrained_scaling	(	float	min_lambda1,
		float	max_lambda1,
		float	min_lambda2,
		float	max_lambda2,
		float	min_l1_l2,
		float	max_l1_l2
	)

Constrained scaling. Adds a constraint on the range of the product of l1 and l2.

Definition at line 106 of file planar_object_recognizer.cpp.

IplImage * planar_object_recognizer::create_result_image	(	IplImage *	input_image,
		bool	p_draw_points,
		bool	p_draw_matches,
		bool	p_draw_object,
		bool	p_draw_model_image,
		int	line_width = 2
	)

For visualization.

Examples:

filedetect.cpp.

Definition at line 1058 of file planar_object_recognizer.cpp.

Referenced by main().

void planar_object_recognizer::debug_model_point ( int  p_index_of_model_point_to_debug )

inline

For debugging: save generated patches for a particular point in dir patches, before and after orientation correction.

Definition at line 192 of file planar_object_recognizer.h.

References index_of_model_point_to_debug.

void planar_object_recognizer::default_settings

(

void

)

Some parameters for fine tuning: Called by the 2 constructors.

Definition at line 57 of file planar_object_recognizer.cpp.

bool planar_object_recognizer::detect

(

IplImage *

input_image

)

Detect the object in the given input image.

Returns true if the object is detected. If the object is detected, put the detected corners in the fieds detected_u_corner1, detected_v_corner1 ...

Calls successively the functions:

• detect_points
• preprocess_points
• match_points
• estimate_affine_transformation
• estimate_homographic_transformation_nonlinear_method

Examples:

augment3d.cpp, filedetect.cpp, fullcalib.cpp, and singlecalib.cpp.

Definition at line 478 of file planar_object_recognizer.cpp.

Referenced by geometric_calibration(), main(), and photometric_calibration().

void planar_object_recognizer::detect_most_stable_model_points	(	int	max_point_number_on_model,
		int	patch_size,
		int	view_number,
		double	min_view_rate,
		LEARNPROGRESSION	LearnProgress = 0
	)

Definition at line 871 of file planar_object_recognizer.cpp.

References cmp_tmp_model_points(), PyrImage::convCoordf(), DETECT_MODEL_POINTS, object_keypoint::M, object_keypoint::scale, keypoint::scale, keypoint::u, and keypoint::v.

void planar_object_recognizer::detect_points

(

IplImage *

input_image

)

Definition at line 405 of file planar_object_recognizer.cpp.

void planar_object_recognizer::dont_use_bins_when_creating_model_points ( void  )

inline

Disactivate bins when detecting model points.

Definition at line 77 of file planar_object_recognizer.h.

References use_bins_for_model_points.

void planar_object_recognizer::dont_use_bins_when_detecting_input_image_points ( void  )

inline

Disactivate bins when detecting model points.

Definition at line 82 of file planar_object_recognizer.h.

References use_bins_for_input_image.

void planar_object_recognizer::dont_use_orientation_correction

(

void

)

Definition at line 85 of file planar_object_recognizer.cpp.

void planar_object_recognizer::draw_inlier_matches

(

int

line_width = 1

)

Definition at line 1348 of file planar_object_recognizer.cpp.

References cvPoint(), image_object_point_match::image_point, image_object_point_match::inlier, object_keypoint::M, image_object_point_match::object_point, keypoint::u, and keypoint::v.

void planar_object_recognizer::draw_input_image_points

(

int

line_width = 1

)

Definition at line 1316 of file planar_object_recognizer.cpp.

References PyrImage::convCoordf(), cvPoint(), and mcvRainbowColor().

void planar_object_recognizer::draw_matches

(

int

line_width = 2

)

Definition at line 1328 of file planar_object_recognizer.cpp.

References PyrImage::convCoordf(), cvPoint(), image_object_point_match::image_point, image_object_point_match::inlier, object_keypoint::M, image_object_point_match::object_point, object_keypoint::scale, keypoint::scale, keypoint::u, and keypoint::v.

void planar_object_recognizer::draw_model

(

void

)

Definition at line 1081 of file planar_object_recognizer.cpp.

References cvPoint().

void planar_object_recognizer::draw_model_points

(

int

line_width = 1

)

Definition at line 1305 of file planar_object_recognizer.cpp.

References PyrImage::convCoordf(), and cvPoint().

void planar_object_recognizer::draw_points

(

int

line_width = 1

)

Definition at line 1299 of file planar_object_recognizer.cpp.

bool planar_object_recognizer::estimate_affine_transformation

(

void

)

Definition at line 615 of file planar_object_recognizer.cpp.

References PyrImage::convCoordf(), affinity::estimate(), image_object_point_match::image_point, object_keypoint::M, image_object_point_match::object_point, object_keypoint::scale, keypoint::scale, keypoint::u, and keypoint::v.

bool planar_object_recognizer::estimate_homographic_transformation_linear_method

(

void

)

Definition at line 680 of file planar_object_recognizer.cpp.

References PyrImage::convCoordf().

bool planar_object_recognizer::estimate_homographic_transformation_nonlinear_method

(

void

)

Definition at line 743 of file planar_object_recognizer.cpp.

References PyrImage::convCoordf(), and homography_error().

void planar_object_recognizer::independent_scaling	(	float	min_lambda1,
		float	max_lambda1,
		float	min_lambda2,
		float	max_lambda2
	)

Default method. Between 0.5 : 1.5 for both.

Definition at line 100 of file planar_object_recognizer.cpp.

void planar_object_recognizer::initialize

(

void

)

Function called by the 2 constructors.

Definition at line 296 of file planar_object_recognizer.cpp.

void planar_object_recognizer::learn	(	int	max_point_number_on_model,
		int	patch_size,
		int	yape_radius,
		int	tree_number,
		int	nbLev = 5,
		LEARNPROGRESSION	LearnProgress = 0
	)

Create the point recognizer (see forest field)

Definition at line 335 of file planar_object_recognizer.cpp.

References hard_max_detected_pts.

bool planar_object_recognizer::load

(

string

directory_name

)

load data from a given directory.

Returns

true on success, false on failure.

Definition at line 212 of file planar_object_recognizer.cpp.

References hard_max_detected_pts, object_keypoint::M, and mcvLoadImage().

void planar_object_recognizer::match_points

(

bool

fill_match_struct = true

)

Definition at line 439 of file planar_object_recognizer.cpp.

References image_object_point_match::image_point, image_object_point_match::object_point, image_class_example::point2d, keypoint::scale, image_object_point_match::score, keypoint::u, and keypoint::v.

void planar_object_recognizer::preprocess_points

(

void

)

Definition at line 416 of file planar_object_recognizer.cpp.

References mcvSaveImage(), image_class_example::point2d, image_class_example::preprocessed, keypoint::scale, keypoint::u, and keypoint::v.

void planar_object_recognizer::save

(

string

directory_name

)

Save data in the given directory. The directory must exist.

Examples:

singlecalib.cpp.

Definition at line 364 of file planar_object_recognizer.cpp.

References mcvSaveImage().

Referenced by acquire_model(), CalibModel::buildCached(), and main().

void planar_object_recognizer::save_image_of_model_points	(	int	patch_size,
		char *	filename = 0
	)

Definition at line 1039 of file planar_object_recognizer.cpp.

References PyrImage::convCoordf(), cvPoint(), mcvGrayToColor(), mcvRainbowColor(), and mcvSaveImage().

void planar_object_recognizer::save_one_image_per_match	(	IplImage *	input_image,
		const char *	matches_dir
	)

For debugging: save one image per match in dir matches.

Definition at line 1230 of file planar_object_recognizer.cpp.

References PyrImage::convCoordf(), cvPoint(), image_object_point_match::image_point, image_object_point_match::inlier, object_keypoint::M, mcvSaveImage(), image_object_point_match::object_point, object_keypoint::scale, keypoint::u, and keypoint::v.

void planar_object_recognizer::save_one_image_per_match_input_to_model	(	IplImage *	input_image,
		const char *	matches_dir
	)

Definition at line 1102 of file planar_object_recognizer.cpp.

References PyrImage::convCoordf(), cvPoint(), object_keypoint::M, mcvSaveImage(), image_class_example::point2d, object_keypoint::scale, keypoint::scale, keypoint::u, and keypoint::v.

void planar_object_recognizer::save_one_image_per_match_model_to_input	(	IplImage *	input_image,
		const char *	matches_dir
	)

Definition at line 1168 of file planar_object_recognizer.cpp.

References PyrImage::convCoordf(), cvPoint(), object_keypoint::M, mcvSaveImage(), image_class_example::point2d, object_keypoint::scale, keypoint::scale, keypoint::u, and keypoint::v.

void planar_object_recognizer::save_patch_before_and_after_correction	(	IplImage *	image,
		int	u,
		int	v,
		int	patch_size,
		image_class_example *	pv,
		int	point_index,
		int	call_number
	)

The following functions are useful for visualization only:

Definition at line 826 of file planar_object_recognizer.cpp.

References mcvGetPatch(), mcvSaveImage(), and image_class_example::preprocessed.

pair< object_keypoint, int > * planar_object_recognizer::search_for_existing_model_point	(	vector< pair< object_keypoint, int > > *	tmp_model_points,
		float	cu,
		float	cv,
		int	scale
	)

Definition at line 846 of file planar_object_recognizer.cpp.

void planar_object_recognizer::set_max_depth ( int  p_max_depth )

inline

Default = 10.

Definition at line 107 of file planar_object_recognizer.h.

References max_depth.

void planar_object_recognizer::set_max_detected_pts

(

int

max

)

set the maximum number of points we want to detect

Definition at line 74 of file planar_object_recognizer.cpp.

References hard_max_detected_pts.

void planar_object_recognizer::set_noise_level

(

int

noise_level

)

Default = 20.

Definition at line 120 of file planar_object_recognizer.cpp.

void planar_object_recognizer::set_range_variation_for_phi	(	float	min_phi,
		float	max_phi
	)

Skew. Default = [0 : Pi].

Definition at line 95 of file planar_object_recognizer.cpp.

void planar_object_recognizer::set_range_variation_for_theta	(	float	min_theta,
		float	max_theta
	)

Global rotation. Default = [0 : 2Pi].

Definition at line 90 of file planar_object_recognizer.cpp.

void planar_object_recognizer::set_sample_number_for_refining ( int  sample_number )

inline

Sample number for the refine step (default = 1000):

Definition at line 110 of file planar_object_recognizer.h.

References sample_number_for_refining.

void planar_object_recognizer::set_use_random_background

(

bool

use_random_background

)

Default = false;.

Definition at line 115 of file planar_object_recognizer.cpp.

bool planar_object_recognizer::three_random_correspondences	(	int *	n1,
		int *	n2,
		int *	n3
	)

Definition at line 534 of file planar_object_recognizer.cpp.

References rand().

void planar_object_recognizer::use_bins_when_creating_model_points ( void  )

inline

Activate bins when detecting model points (Default)

Definition at line 75 of file planar_object_recognizer.h.

References use_bins_for_model_points.

void planar_object_recognizer::use_bins_when_detecting_input_image_points ( void  )

inline

Activate bins when detecting input image points (Default)

Definition at line 80 of file planar_object_recognizer.h.

References use_bins_for_input_image.

void planar_object_recognizer::use_orientation_correction

(

void

)

Default method.

Definition at line 80 of file planar_object_recognizer.cpp.

bool planar_object_recognizer::valid

(

affinity *

A

)

Definition at line 605 of file planar_object_recognizer.cpp.

References cvmGet().

Member Data Documentation

affinity* planar_object_recognizer::affine_motion

Definition at line 174 of file planar_object_recognizer.h.

int planar_object_recognizer::detected_point_number

Definition at line 164 of file planar_object_recognizer.h.

image_class_example* planar_object_recognizer::detected_point_views

Definition at line 165 of file planar_object_recognizer.h.

keypoint* planar_object_recognizer::detected_points

Detected keypoints in the input image.

Definition at line 163 of file planar_object_recognizer.h.

float planar_object_recognizer::detected_u_corner1

Definition at line 177 of file planar_object_recognizer.h.

float planar_object_recognizer::detected_u_corner2

Definition at line 178 of file planar_object_recognizer.h.

float planar_object_recognizer::detected_u_corner3

Definition at line 179 of file planar_object_recognizer.h.

float planar_object_recognizer::detected_u_corner4

Definition at line 180 of file planar_object_recognizer.h.

float planar_object_recognizer::detected_v_corner1

Definition at line 177 of file planar_object_recognizer.h.

float planar_object_recognizer::detected_v_corner2

Definition at line 178 of file planar_object_recognizer.h.

float planar_object_recognizer::detected_v_corner3

Definition at line 179 of file planar_object_recognizer.h.

float planar_object_recognizer::detected_v_corner4

Definition at line 180 of file planar_object_recognizer.h.

image_classification_forest* planar_object_recognizer::forest

Image classifier.

Definition at line 218 of file planar_object_recognizer.h.

homography* planar_object_recognizer::H

Examples:

augment3d.cpp, fullcalib.cpp, and singlecalib.cpp.

Definition at line 175 of file planar_object_recognizer.h.

Referenced by add_detected_homography(), and photometric_calibration().

ls_minimizer2* planar_object_recognizer::homography_estimator

Definition at line 176 of file planar_object_recognizer.h.

int planar_object_recognizer::index_of_model_point_to_debug

Definition at line 233 of file planar_object_recognizer.h.

Referenced by debug_model_point().

double planar_object_recognizer::keypoint_distance_threshold

interest points that are closer than this distance are merged by by search_for_existing_model_point().

Definition at line 244 of file planar_object_recognizer.h.

int planar_object_recognizer::match_number

Examples:

augment3d.cpp, fullcalib.cpp, multicam.cpp, and singlecalib.cpp.

Definition at line 171 of file planar_object_recognizer.h.

Referenced by add_detected_homography(), geom_calib_draw(), and show_result().

float* planar_object_recognizer::match_probabilities[hard_max_detected_pts]

Match probabilities for each detected keypoint.

Definition at line 168 of file planar_object_recognizer.h.

float planar_object_recognizer::match_score_threshold

The RANSAC estimation will not take into account a match whose score is under that threshold.

Examples:

augment3d.cpp, filedetect.cpp, and singlecalib.cpp.

Definition at line 249 of file planar_object_recognizer.h.

Referenced by CalibModel::buildCached(), and main().

image_object_point_match planar_object_recognizer::matches[hard_max_detected_pts]

Matches between the detected keypoints, and the model keypoints.

Examples:

augment3d.cpp, fullcalib.cpp, multicam.cpp, and singlecalib.cpp.

Definition at line 170 of file planar_object_recognizer.h.

Referenced by add_detected_homography(), geom_calib_draw(), and show_result().

int planar_object_recognizer::max_depth

Definition at line 226 of file planar_object_recognizer.h.

Referenced by set_max_depth().

int planar_object_recognizer::max_detected_pts

Definition at line 225 of file planar_object_recognizer.h.

int planar_object_recognizer::max_ransac_iterations

maximum iteration number for RANSAC

Examples:

augment3d.cpp, filedetect.cpp, and singlecalib.cpp.

Definition at line 259 of file planar_object_recognizer.h.

Referenced by CalibModel::buildCached(), and main().

double planar_object_recognizer::min_view_rate

minimum visible rate for determining stable keypoints

Examples:

filedetect.cpp.

Definition at line 239 of file planar_object_recognizer.h.

Referenced by CalibModel::buildCached(), and main().

IplImage* planar_object_recognizer::model_and_input_images

Definition at line 280 of file planar_object_recognizer.h.

int planar_object_recognizer::model_point_number

Definition at line 160 of file planar_object_recognizer.h.

object_keypoint* planar_object_recognizer::model_points

keypoints on the object.

(X, Y) = coordinates in the original image, Z = 0. usage: model_points[target][model], with 0 <= target < detected_point_number and 0 <= model < model_point_number

Definition at line 159 of file planar_object_recognizer.h.

affine_image_generator planar_object_recognizer::new_images_generator

Definition at line 205 of file planar_object_recognizer.h.

Referenced by CalibModel::buildCached().

float planar_object_recognizer::non_linear_refine_threshold

Distance threshold, in pixels, for non-linear refinement.

Examples:

augment3d.cpp, filedetect.cpp, and singlecalib.cpp.

Definition at line 256 of file planar_object_recognizer.h.

Referenced by CalibModel::buildCached(), and main().

object_view* planar_object_recognizer::object_input_view

Definition at line 207 of file planar_object_recognizer.h.

bool planar_object_recognizer::object_is_detected

Examples:

fullcalib.cpp, multicam.cpp, and singlecalib.cpp.

Definition at line 173 of file planar_object_recognizer.h.

Referenced by augment_scene(), geom_calib_draw(), photometric_calibration(), and show_result().

pyr_yape* planar_object_recognizer::point_detector

Definition at line 182 of file planar_object_recognizer.h.

float planar_object_recognizer::ransac_dist_threshold

The minimum reprojection distance that RANSAC will consider compatible.

Examples:

augment3d.cpp, filedetect.cpp, and singlecalib.cpp.

Definition at line 253 of file planar_object_recognizer.h.

Referenced by CalibModel::buildCached(), and main().

int planar_object_recognizer::ransac_stop_support

RANSAC will stop if it finds a transformation that satisfies at least ransac_stop_support matches.

Definition at line 264 of file planar_object_recognizer.h.

int planar_object_recognizer::sample_number_for_refining

Definition at line 111 of file planar_object_recognizer.h.

Referenced by set_sample_number_for_refining().

int planar_object_recognizer::u_input_image

Definition at line 282 of file planar_object_recognizer.h.

bool planar_object_recognizer::use_bins_for_input_image

Definition at line 232 of file planar_object_recognizer.h.

Referenced by dont_use_bins_when_detecting_input_image_points(), and use_bins_when_detecting_input_image_points().

bool planar_object_recognizer::use_bins_for_model_points

Definition at line 231 of file planar_object_recognizer.h.

Referenced by dont_use_bins_when_creating_model_points(), and use_bins_when_creating_model_points().

int planar_object_recognizer::v_input_image

Definition at line 282 of file planar_object_recognizer.h.

int planar_object_recognizer::views_number

number of generated views for finding stable points

Examples:

filedetect.cpp.

Definition at line 236 of file planar_object_recognizer.h.

Referenced by CalibModel::buildCached(), and main().

int planar_object_recognizer::x0

Definition at line 281 of file planar_object_recognizer.h.

int planar_object_recognizer::y0

Definition at line 281 of file planar_object_recognizer.h.

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

• /home/adrien/Téléchargements/bazar/bazar-1.3.1/garfeild/viewsets/planar_object_recognizer.h
• /home/adrien/Téléchargements/bazar/bazar-1.3.1/garfeild/viewsets/planar_object_recognizer.cpp