static void declare_params(ecto::tendrils& params) {
params.declare(&FeatureFinder::use_fast_, "use_fast",
"Whether to use FAST keypoints or not (otherwise, ORB is used)", false);
params.declare(&FeatureFinder::n_features_, "n_features", "The number of keypoints to use", 1000);
params.declare(&FeatureFinder::n_levels_, "n_levels", "The number of levels to use for ORB", 3);
params.declare(&FeatureFinder::scale_factor_, "scale_factor", "The scale factor to use for ORB", 1.2);
}
static void
declare_io(const ecto::tendrils& params, ecto::tendrils& inputs, ecto::tendrils& outputs)
{
typedef ModelFiller C;
inputs.declare(&C::points_, "points", "The 3d position of the points.");
inputs.declare(&C::descriptors_, "descriptors", "The descriptors.");
outputs.declare(&C::db_document_, "db_document", "The filled document.");
}
static void declare_io(const ecto::tendrils& params, ecto::tendrils& inputs,
ecto::tendrils& outputs) {
inputs.declare(&MaskDisplay::img_rgb_, "image", "The image to mask.").required();
inputs.declare(&MaskDisplay::img_mask_, "mask",
"The mask toapply to the image.").required();
outputs.declare(&MaskDisplay::img_out_, "image", "The masked out image.");
}
static void declare_params(ecto::tendrils& params) {
params.declare(
&ObjectRecognizer::object_ids_, "json_object_ids",
"The DB id of the objects to load in the household database.");
params.declare(
&ObjectRecognizer::tabletop_object_ids_, "tabletop_object_ids",
"The object_ids set as defined by the household object database.",
"REDUCED_MODEL_SET");
params.declare(&ObjectRecognizer::json_db_params_, "json_db",
"The DB parameters").required(true);
}
static void declare_io(const ecto::tendrils& params, ecto::tendrils& inputs,
ecto::tendrils& outputs) {
inputs.declare(&Trainer::json_db_, "json_db",
"The parameters of the DB as a JSON string.").required(true);
inputs.declare(&Trainer::object_id_, "object_id",
"The id of the object in the DB.").required(true);
outputs.declare(&Trainer::descriptors_out_, "descriptors",
"The stacked descriptors.");
outputs.declare(&Trainer::points_out_, "points",
"The 3d position of the points.");
}
static void
declare_io(const ecto::tendrils& params, ecto::tendrils& inputs, ecto::tendrils& outputs)
{
inputs.declare(&PlaneFilter::planes_, "planes",
"The different found planes (a,b,c,d) of equation ax+by+cz+d=0.").required();
inputs.declare(&PlaneFilter::masks_, "masks", "The masks for each plane.").required();
inputs.declare(&PlaneFilter::K_, "K", "The calibration matrix.");
inputs.declare(&PlaneFilter::R_in_, "R", "The currently estimated plane rotation.");
inputs.declare(&PlaneFilter::T_in_, "T", "The currently estimated plane origin.");
outputs.declare(&PlaneFilter::coeffs_, "coeffs", "The coefficients of the plane.");
outputs.declare(&PlaneFilter::R_out_, "R", "The rotation component of the plane pose");
outputs.declare(&PlaneFilter::T_out_, "T", "The translation component of the plane pose");
outputs.declare(&PlaneFilter::found_, "found", "Whether or not the R|T is good.");
}
static void declare_params(ecto::tendrils& params) {
params.declare(&Trainer::json_feature_params_, "json_feature_params",
std::string("Parameters for the feature as a JSON string. ")
+ std::string(
"It should have the format: \"{\"type\":\"ORB/SIFT whatever\", ")
+ std::string(
"\"module\":\"where_it_is\", \"param_1\":val1, ....}"),
"{\"type\": \"ORB\", \"module\": \"ecto_opencv.features2d\"}").required(
true);
params.declare(&Trainer::json_descriptor_params_, "json_descriptor_params",
std::string("Parameters for the descriptor as a JSON string. ")
+ std::string(
"It should have the format: \"{\"type\":\"ORB/SIFT whatever\", ")
+ std::string(
"\"module\":\"where_it_is\", \"param_1\":val1, ....}" ""),
"{\"type\": \"ORB\", \"module\": \"ecto_opencv.features2d\"}").required(
true);
params.declare(&Trainer::visualize_, "visualize",
"If true, debug data is visualized.", false);
}
static void declare_io(const ecto::tendrils& params, ecto::tendrils& inputs, ecto::tendrils& outputs) {
inputs.declare(&FeatureFinder::image_, "image", "The image on which to find keypoints.").required();
inputs.declare(&FeatureFinder::points3d_in_, "points3d", "The 3d points matching the image.").required();
inputs.declare(&FeatureFinder::mask_, "points3d_mask", "The mask of where to find keypoints in the image.");
outputs.declare(&FeatureFinder::points_, "points", "The 2d points in the image.");
outputs.declare(&FeatureFinder::points3d_out_, "points3d", "The 3d points");
outputs.declare(&FeatureFinder::keypoints_, "keypoints", "The keypoints");
outputs.declare(&FeatureFinder::descriptors_, "descriptors", "The descriptors");
}
static void
declare_io(const ecto::tendrils& p, ecto::tendrils& inputs, ecto::tendrils& outputs)
{
unsigned int ninput = p.get<unsigned int>("n_inputs");
//inputs
for (unsigned int i = 0; i < ninput; i++)
{
inputs.declare<std::vector<PoseResult> >(get_input_string("pose_results", i),
"The results of object recognition");
}
//output
outputs.declare(&Aggregator::output_pose_results_, "pose_results", "The results of object recognition");
}
static void
declare_params(ecto::tendrils& params)
{
params.declare(&C::db_params_, "db_params", //
"The DB parameters").required(true);
params.declare(&C::object_id_, "object_id", //
"The object id, to associate this model with.").required(true);
params.declare(&C::session_ids_, "session_ids", //
"The session ids, to associate this model with.").required(true);
params.declare(&C::model_method_, "method", //
"The method used to compute the model (e.g. 'TOD' ...).").required(true);
params.declare(&C::model_submethod_, "json_submethod", //
"The discriminative parameters used, as JSON.").required(true);
params.declare(&C::model_parameters_, "json_parameters", //
"The non-discriminative parameters used, as JSON.").required(true);
}
void
configure(const ecto::tendrils& p, const ecto::tendrils& in, const ecto::tendrils& out)
{
for (unsigned int i = 0; i < in.size(); i++)
input_pose_results_.push_back(in[get_input_string("pose_results", i)]);
}
static void
declare_params(ecto::tendrils& params)
{
params.declare(&PlaneFilter::window_size_, "size", "The edge of the central square in which to look for the plane.", 100);
params.declare(&PlaneFilter::do_center_, "do_center", "If set to true, the plane origin will be at the center of the image.", false);
}
static void declare_params(ecto::tendrils& params) {
object_recognition_core::db::bases::declare_params_impl(params, "mesh");
params.declare(&ObjectRecognizer::tabletop_object_ids_, "tabletop_object_ids",
"The object_ids set as defined by the household object database.",
"REDUCED_MODEL_SET");
}
static void
declare_io(const ecto::tendrils& params, ecto::tendrils& inputs, ecto::tendrils& outputs)
{
inputs.declare(&C::db_document_, "db_document");
}
