Visual Servoing Platform
version 3.2.0 under development (2019-01-22)
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#include <visp3/detection/vpDetectorDNN.h>
Public Member Functions | |
vpDetectorDNN () | |
virtual | ~vpDetectorDNN () |
virtual bool | detect (const vpImage< unsigned char > &I) |
virtual bool | detect (const vpImage< vpRGBa > &I, std::vector< vpRect > &boundingBoxes) |
std::vector< vpRect > | getDetectionBBs (bool afterNMS=true) const |
std::vector< int > | getDetectionClassIds (bool afterNMS=true) const |
std::vector< float > | getDetectionConfidence (bool afterNMS=true) const |
void | readNet (const std::string &model, const std::string &config="", const std::string &framework="") |
void | setConfidenceThreshold (float confThreshold) |
void | setInputSize (int width, int height) |
void | setMean (double meanR, double meanG, double meanB) |
void | setNMSThreshold (float nmsThreshold) |
void | setPreferableBackend (int backendId) |
void | setPreferableTarget (int targetId) |
void | setScaleFactor (double scaleFactor) |
void | setSwapRB (bool swapRB) |
Inherited functionalities from vpDetectorBase | |
vpRect | getBBox (size_t i) const |
vpImagePoint | getCog (size_t i) const |
std::vector< std::string > & | getMessage () |
std::string & | getMessage (size_t i) |
size_t | getNbObjects () const |
std::vector< std::vector< vpImagePoint > > & | getPolygon () |
std::vector< vpImagePoint > & | getPolygon (size_t i) |
Protected Attributes | |
std::vector< std::vector< vpImagePoint > > | m_polygon |
std::vector< std::string > | m_message |
size_t | m_nb_objects |
This class is a wrapper over the OpenCV DNN module and specialized to handle object detection task.
Example is provided in tutorial-dnn-object-detection-live.cpp
Definition at line 52 of file vpDetectorDNN.h.
vpDetectorDNN::vpDetectorDNN | ( | ) |
Definition at line 41 of file vpDetectorDNN.cpp.
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virtual |
Definition at line 45 of file vpDetectorDNN.cpp.
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virtual |
Object detection using OpenCV DNN module.
I | : Input image. |
Implements vpDetectorBase.
Definition at line 55 of file vpDetectorDNN.cpp.
References vpImageConvert::convert().
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virtual |
Object detection using OpenCV DNN module.
I | : Input image. |
boundingBoxes | : Vector of detection bounding boxes. |
Definition at line 69 of file vpDetectorDNN.cpp.
References vpImageConvert::convert(), vpDetectorBase::m_message, vpDetectorBase::m_nb_objects, and vpDetectorBase::m_polygon.
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inherited |
Return the bounding box of the ith object.
Definition at line 87 of file vpDetectorBase.cpp.
References vpDetectorBase::m_polygon.
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inherited |
Return the center of gravity location of the ith object.
Definition at line 74 of file vpDetectorBase.cpp.
References vpDetectorBase::m_polygon.
std::vector< vpRect > vpDetectorDNN::getDetectionBBs | ( | bool | afterNMS = true | ) | const |
Get raw detection bounding boxes.
afterNMS | If true, return detection bounding boxes after NMS |
Definition at line 118 of file vpDetectorDNN.cpp.
std::vector< int > vpDetectorDNN::getDetectionClassIds | ( | bool | afterNMS = true | ) | const |
Get detection class ids.
afterNMS | If true, returns class ids after NMS |
Definition at line 142 of file vpDetectorDNN.cpp.
std::vector< float > vpDetectorDNN::getDetectionConfidence | ( | bool | afterNMS = true | ) | const |
Get detection confidences.
Definition at line 158 of file vpDetectorDNN.cpp.
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inlineinherited |
Returns the contained message of the ith object if there is one.
Definition at line 107 of file vpDetectorBase.h.
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inherited |
Returns the contained message of the ith object if there is one.
Definition at line 62 of file vpDetectorBase.cpp.
References vpException::badValue, vpDetectorBase::m_message, and vpDetectorBase::m_polygon.
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inlineinherited |
Return the number of objects that are detected.
Definition at line 117 of file vpDetectorBase.h.
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inlineinherited |
Returns object container box as a vector of points.
Definition at line 122 of file vpDetectorBase.h.
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inherited |
Returns ith object container box as a vector of points.
Definition at line 50 of file vpDetectorBase.cpp.
References vpException::badValue, and vpDetectorBase::m_polygon.
void vpDetectorDNN::readNet | ( | const std::string & | model, |
const std::string & | config = "" , |
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const std::string & | framework = "" |
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Read a network, see OpenCV readNet documentation for more information.
model | Path to a binary file of model containing trained weights. The following file extensions are expected for models from different frameworks:
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config | Path to a text file of model containing network configuration. It could be a file with the following extensions:
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framework | Optional name of an origin framework of the model. Automatically detected if it is not set. |
Definition at line 301 of file vpDetectorDNN.cpp.
void vpDetectorDNN::setConfidenceThreshold | ( | float | confThreshold | ) |
Set confidence threshold to filter the detections.
confThreshold | Confidence threshold between [0, 1] |
Definition at line 315 of file vpDetectorDNN.cpp.
void vpDetectorDNN::setInputSize | ( | int | width, |
int | height | ||
) |
Set dimension to resize the image to the input blob.
width | If <= 0, blob width is set to image width |
height | If <= 0, blob height is set to image height |
Definition at line 325 of file vpDetectorDNN.cpp.
void vpDetectorDNN::setMean | ( | double | meanR, |
double | meanG, | ||
double | meanB | ||
) |
Set mean subtraction values.
meanR | Mean value for R-channel |
meanG | Mean value for G-channel |
meanB | Mean value for R-channel |
Definition at line 337 of file vpDetectorDNN.cpp.
void vpDetectorDNN::setNMSThreshold | ( | float | nmsThreshold | ) |
Set Non-Maximum Suppression threshold, used to filter multiple detections at approximatively the same location.
nmsThreshold | Non-Maximum Suppression threshold between [0, 1] |
Definition at line 347 of file vpDetectorDNN.cpp.
void vpDetectorDNN::setPreferableBackend | ( | int | backendId | ) |
Set preferable backend for inference computation. See OpenCV setPreferableBackend documentation for more information.
backendId | Backend identifier |
Definition at line 357 of file vpDetectorDNN.cpp.
void vpDetectorDNN::setPreferableTarget | ( | int | targetId | ) |
Set preferable target for inference computation. See OpenCV setPreferableTarget documentation for more information.
targetId | Target identifier |
Definition at line 367 of file vpDetectorDNN.cpp.
void vpDetectorDNN::setScaleFactor | ( | double | scaleFactor | ) |
Set scale factor to normalize the range of pixel values.
Definition at line 374 of file vpDetectorDNN.cpp.
void vpDetectorDNN::setSwapRB | ( | bool | swapRB | ) |
If true, swap R and B channel for mean subtraction. For instance when the network has been trained on RGB image format (OpenCV uses BGR convention).
Definition at line 383 of file vpDetectorDNN.cpp.
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protectedinherited |
Message attached to each object.
Definition at line 71 of file vpDetectorBase.h.
Referenced by detect(), vpDetectorFace::detect(), vpDetectorDataMatrixCode::detect(), vpDetectorQRCode::detect(), vpDetectorAprilTag::detect(), and vpDetectorBase::getMessage().
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protectedinherited |
Number of detected objects.
Definition at line 72 of file vpDetectorBase.h.
Referenced by detect(), vpDetectorFace::detect(), vpDetectorDataMatrixCode::detect(), vpDetectorQRCode::detect(), and vpDetectorAprilTag::detect().
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protectedinherited |
For each object, defines the polygon that contains the object.
Definition at line 67 of file vpDetectorBase.h.
Referenced by detect(), vpDetectorFace::detect(), vpDetectorDataMatrixCode::detect(), vpDetectorQRCode::detect(), vpDetectorAprilTag::detect(), vpDetectorBase::getBBox(), vpDetectorBase::getCog(), vpDetectorBase::getMessage(), and vpDetectorBase::getPolygon().