std::string
Detector::query(Scene &scene)
{
static int i = 0;
if (detector_vis_) {
std::stringstream ss;
std::string s;
ss << i;
s = ss.str();
detector_vis_->addCloud(scene.id + "_test_" + s, scene.cloud);
i++;
}
cout << "detector testing " << scene.id << endl;
Entry e;
e.cloud = scene.cloud;
timer.start();
e.keypoints = computeKeypoints(e.cloud);
timer.stop(KEYPOINTS_TESTING);
timer.start();
e.features = obtainFeatures(scene, e.keypoints, true);
timer.stop(COMPUTE_FEATURES_TESTING);
e.id = scene.id;
StopWatch s;
std::vector<std::string> all_ids;
for (std::map<std::string, Entry>::iterator db_it = database_->begin(); db_it != database_->end(); db_it++)
{
all_ids.push_back((*db_it).first);
}
std::vector<std::string> current_ids = all_ids;
for (size_t i = 0; i < proposers_.size(); i++)
{
Proposer::Ptr current_proposer = proposers_[i];
current_proposer->setDatabase(database_);
current_proposer->getProposed(num_registration, e, current_ids, current_ids);
cout << "Proposed after stage " << i << ":";
for (size_t i = 0; i < current_ids.size(); i++) {
cout << current_ids[i] << " ";
}
cout << endl;
}
return current_ids[0];
}
// ######################################################################
VisualObject::VisualObject(const std::string& name,
const std::string& imagefname,
const Image< PixRGB<byte> >& image,
const Point2D<int>& salpt,
const std::vector<float>& preattfeatures,
const std::vector< rutz::shared_ptr<Keypoint> >&
keypoints,
const bool useColor,
bool computeKP) :
itsName(name), itsImageFname(imagefname), itsImage(image),
itsKeypoints(keypoints), itsSalPoint(salpt), itsFeatures(preattfeatures),
itsIsSorted(false), itsUseColor(useColor),itsImageLoaded(true)
{
itsObjectSize = image.getDims();
if(computeKP) computeKeypoints();
}
/* Trains a single model */
void
Detector::train(Scene &scene)
{
srand(0);
PointCloud<PointNormal>::Ptr keypoints = computeKeypoints(scene.cloud);
if (detector_vis_) {
detector_vis_->addCloud(scene.id + "keypoints", keypoints);
detector_vis_->addCloud(scene.id + "original", scene.cloud);
}
PointCloud<Signature>::Ptr features = obtainFeatures(scene, keypoints, false, true);
Entry e;
e.cloud = scene.cloud;
e.keypoints = keypoints;
e.features = features;
e.tree = KdTreeFLANN<Signature>::Ptr(new KdTreeFLANN<Signature>());
e.tree->setInputCloud(e.features);
e.id = scene.id;
(*database_)[scene.id] = e;
}