VisualObjectDB Class Reference

VisualObjectDatabase. More...

#include <SIFT/VisualObjectDB.H>

Collaboration diagram for VisualObjectDB:

Public Member Functions
	VisualObjectDB ()
	Constructor; use operator>> and operator<< to load/save.
	~VisualObjectDB ()
	Destructor.
bool	loadFrom (const std::string &fname, bool preloadImage=true)
	Easy loading from file.
bool	saveTo (const std::string &fname)
	Easy saving to file.
std::string	getName () const
	name access methods
void	setName (const std::string &name)
uint	numObjects () const
	get number of objects in the database
const rutz::shared_ptr < VisualObject > &	getObject (const uint index) const
	object getter
void	setObject (const uint index, const rutz::shared_ptr< VisualObject > &obj)
	object setter
void	eraseObject (const uint index)
	erase object
void	clearObjects (uint size=0)
rutz::shared_ptr< VisualObject >	getObject (const std::string objectName) const
	object getter by name
bool	addObject (const rutz::shared_ptr< VisualObject > &obj, bool uniqueName=true)
	add object
void	buildKDTree ()
	Build a giant internal KDTree from all our Keypoints.
uint	getObjectMatches (const rutz::shared_ptr< VisualObject > obj, std::vector< rutz::shared_ptr< VisualObjectMatch > > &matches, const VisualObjectMatchAlgo algo=VOMA_SIMPLE, const uint maxn=5U, const float kcoeff=0.5F, const float acoeff=0.5F, const float minscore=1.0F, const uint mink=3U, const uint kthresh=6U, const bool sortbypf=false)
	find match for the keypoints in the scene
uint	getObjectMatchesParallel (const rutz::shared_ptr< VisualObject > obj, std::vector< rutz::shared_ptr< VisualObjectMatch > > &matches, const uint numthreads=4, const float kcoeff=0.5F, const float acoeff=0.5F, const float minscore=1.0F, const uint mink=3U, const uint kthresh=6U, const bool sortbypf=false)
	find match for the keypoints in the scene, parallel version
void	createVisualObjectDB (std::istream &is, VisualObjectDB &vdb, bool preloadImage=true)
Friends
std::istream &	operator>> (std::istream &is, VisualObjectDB &vdb)
	Load a VisualObjectDB from an istream.
std::ostream &	operator<< (std::ostream &os, const VisualObjectDB &vdb)
	Save a VisualObjectDB to an ostream.

Detailed Description

VisualObjectDatabase.

Definition at line 52 of file VisualObjectDB.H.

Constructor & Destructor Documentation

VisualObjectDB::VisualObjectDB ( )

Constructor; use operator>> and operator<< to load/save.

Definition at line 51 of file VisualObjectDB.C.

VisualObjectDB::~VisualObjectDB ( )

Destructor.

Definition at line 56 of file VisualObjectDB.C.

Member Function Documentation

bool VisualObjectDB::addObject	(	const rutz::shared_ptr< VisualObject > &	obj,
		bool	uniqueName = `true`
	)

add object

Returns:: true if the object was added, false if it was not added because an object with the same name already exists (uniqueName=true) in the database. This invalidates any internal KDTree we may have.

Definition at line 92 of file VisualObjectDB.C.

References rutz::shared_ptr< T >::reset().

Referenced by main(), and SceneRec::trainFeature().

void VisualObjectDB::buildKDTree ( )

Build a giant internal KDTree from all our Keypoints.

This will automatically be called by getObjectMatches() if an up-to-date KDTree is not internally available. This function is made public because it may take a while to run, and is best run just after loading a DB, rather than on the first match attempt. If an up-to-date KDTree is already internally available, this is a no-op.

Definition at line 137 of file VisualObjectDB.C.

References rutz::shared_ptr< T >::is_valid(), and rutz::shared_ptr< T >::reset().

Referenced by getObjectMatches().

void VisualObjectDB::eraseObject ( const uint index ) [inline]

erase object

Definition at line 191 of file VisualObjectDB.H.

References ASSERT.

std::string VisualObjectDB::getName ( void ) const [inline]

name access methods

Definition at line 182 of file VisualObjectDB.H.

Referenced by operator<<().

rutz::shared_ptr< VisualObject > VisualObjectDB::getObject ( const std::string objectName ) const [inline]

object getter by name

Returns an uninitialized rutz::shared_ptr is not found.

Definition at line 211 of file VisualObjectDB.H.

const rutz::shared_ptr< VisualObject > & VisualObjectDB::getObject ( const uint index ) const [inline]

object getter

Definition at line 204 of file VisualObjectDB.H.

References ASSERT.

uint VisualObjectDB::getObjectMatches	(	const rutz::shared_ptr< VisualObject >	obj,
		std::vector< rutz::shared_ptr< VisualObjectMatch > > &	matches,
		const VisualObjectMatchAlgo	algo = `VOMA_SIMPLE`,
		const uint	maxn = `5U`,
		const float	kcoeff = `0.5F`,
		const float	acoeff = `0.5F`,
		const float	minscore = `1.0F`,
		const uint	mink = `3U`,
		const uint	kthresh = `6U`,
		const bool	sortbypf = `false`
	)

find match for the keypoints in the scene

Parameters:

	obj	the VisualObject to match against the objects in our database.
	matches	list of matches which satisfy all criteria, sorted by matching score. Note: the list is initially cleared.
	algo	the algorithm to use for matching (see VisualObjectMatch.H).
	maxn	the maximum number of object matches to return. NOTE: we will return the first maxn matches found without exploring the database any further. If this is not desirable, use a large matchn. You can also use sortbypf below to attempt that these first matches will indeed be the best ones.
	kcoeff	coefficient for keypoint distance, used to score a match. See VisualObjectMatch::getScore().
	acoeff	coefficient for affine distance, used to score a match. See VisualObjectMatch::getScore().
	minscore	min acceptable VisualObjectMatch::getScore(kcoeff, acoeff).
	mink	minimum number of matching keypoints in an object match.
	kthresh	threshold to use for keypoint selection in obj; see VisualObject constructor and ScaleSpace.
	sortbypf	sort our database by similarity of preattentive visual features if true. This is incompatible with KDTree-based matching algos, which would not benefit from this sorting.

Returns:: the number of matches found (== matches.size())

Definition at line 182 of file VisualObjectDB.C.

References buildKDTree(), KeypointMatch::distSq, KeypointMatch::distSq2, max(), KeypointMatch::refkp, and KeypointMatch::tstkp.

Referenced by SceneRec::computeLocation(), InferotemporalCortexI::evolve(), and main().

uint VisualObjectDB::getObjectMatchesParallel	(	const rutz::shared_ptr< VisualObject >	obj,
		std::vector< rutz::shared_ptr< VisualObjectMatch > > &	matches,
		const uint	numthreads = `4`,
		const float	kcoeff = `0.5F`,
		const float	acoeff = `0.5F`,
		const float	minscore = `1.0F`,
		const uint	mink = `3U`,
		const uint	kthresh = `6U`,
		const bool	sortbypf = `false`
	)