예제 #1
0
 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.");
 }
예제 #3
0
  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.");
  }
예제 #4
0
 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);
 }
예제 #5
0
파일: Trainer.cpp 프로젝트: hexroytom/tod
  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.");
  }
예제 #6
0
  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.");
  }
예제 #7
0
파일: Trainer.cpp 프로젝트: hexroytom/tod
 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);
 }
예제 #8
0
  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");
  }
예제 #9
0
    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");
    }
예제 #10
0
 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);
 }
예제 #11
0
 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)]);
 }
예제 #12
0
 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);
 }
예제 #13
0
 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");
 }
예제 #14
0
 static void
 declare_io(const ecto::tendrils& params, ecto::tendrils& inputs, ecto::tendrils& outputs)
 {
   inputs.declare(&C::db_document_, "db_document");
 }