vpDetectorDNN Class Reference

#include <vpDetectorDNN.h>

Inheritance diagram for vpDetectorDNN:

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)
void	setTimeout (unsigned long timeout_ms)

Protected Attributes
std::vector< std::vector< vpImagePoint > >	m_polygon
std::vector< std::string >	m_message
size_t	m_nb_objects
unsigned long	m_timeout_ms

Detailed Description

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

Examples:

tutorial-dnn-object-detection-live.cpp.

Definition at line 52 of file vpDetectorDNN.h.

Constructor & Destructor Documentation

vpDetectorDNN::vpDetectorDNN

(

)

Definition at line 41 of file vpDetectorDNN.cpp.

vpDetectorDNN::~vpDetectorDNN ( )

virtual

Definition at line 45 of file vpDetectorDNN.cpp.

Member Function Documentation

bool vpDetectorDNN::detect ( const vpImage< unsigned char > &  I )

virtual

Object detection using OpenCV DNN module.

Warning

Classical object detection network uses as input 3-channels. Grayscale image is converted to color image.

Parameters

I	: Input image.

Returns

false if there is no detection.

Implements vpDetectorBase.

Examples:

tutorial-dnn-object-detection-live.cpp.

Definition at line 55 of file vpDetectorDNN.cpp.

References vpImageConvert::convert().

bool vpDetectorDNN::detect ( const vpImage< vpRGBa > &  I, std::vector< vpRect > &  boundingBoxes  )

virtual

Object detection using OpenCV DNN module.

Parameters

I	: Input image.
boundingBoxes	: Vector of detection bounding boxes.

Returns

false if there is no detection.

Definition at line 69 of file vpDetectorDNN.cpp.

References vpImageConvert::convert(), vpDetectorBase::m_message, vpDetectorBase::m_nb_objects, and vpDetectorBase::m_polygon.

vpRect vpDetectorBase::getBBox ( size_t  i ) const

inherited

Return the bounding box of the ith object.

Examples:

tutorial-apriltag-detector.cpp, tutorial-barcode-detector-live.cpp, and tutorial-barcode-detector.cpp.

Definition at line 92 of file vpDetectorBase.cpp.

References vpDetectorBase::m_polygon.

vpImagePoint vpDetectorBase::getCog ( size_t  i ) const

inherited

Return the center of gravity location of the ith object.

Examples:

mbot-apriltag-2D-half-vs.cpp, mbot-apriltag-ibvs.cpp, servoBebop2.cpp, servoFlirPtuIBVS.cpp, servoFrankaPBVS.cpp, and tutorial-flir-ptu-ibvs.cpp.

Definition at line 79 of file vpDetectorBase.cpp.

References vpDetectorBase::m_polygon.

std::vector< vpRect > vpDetectorDNN::getDetectionBBs

(

bool

afterNMS = true

)

const

Get raw detection bounding boxes.

Parameters

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.

Parameters

afterNMS

If true, returns class ids after NMS

Examples:

tutorial-dnn-object-detection-live.cpp.

Definition at line 142 of file vpDetectorDNN.cpp.

std::vector< float > vpDetectorDNN::getDetectionConfidence

(

bool

afterNMS = true

)

const

Get detection confidences.

Examples:

tutorial-dnn-object-detection-live.cpp.

Definition at line 158 of file vpDetectorDNN.cpp.

std::vector<std::string>& vpDetectorBase::getMessage ( )

inlineinherited

Returns the contained message of the ith object if there is one.

Examples:

testAprilTag.cpp, tutorial-apriltag-detector.cpp, tutorial-barcode-detector-live.cpp, and tutorial-barcode-detector.cpp.

Definition at line 106 of file vpDetectorBase.h.

std::string & vpDetectorBase::getMessage ( size_t  i )

inherited

Returns the contained message of the ith object if there is one.

Definition at line 67 of file vpDetectorBase.cpp.

References vpException::badValue, vpDetectorBase::m_message, and vpDetectorBase::m_polygon.

size_t vpDetectorBase::getNbObjects ( ) const

inlineinherited

Return the number of objects that are detected.

Examples:

mbot-apriltag-2D-half-vs.cpp, mbot-apriltag-ibvs.cpp, mbot-apriltag-pbvs.cpp, servoBebop2.cpp, servoFlirPtuIBVS.cpp, testAprilTag.cpp, tutorial-apriltag-detector-live.cpp, tutorial-apriltag-detector.cpp, tutorial-barcode-detector-live.cpp, tutorial-barcode-detector.cpp, tutorial-flir-ptu-ibvs.cpp, tutorial-mb-generic-tracker-apriltag-rs2.cpp, tutorial-mb-generic-tracker-apriltag-webcam.cpp, and tutorial-pose-from-qrcode-image.cpp.

Definition at line 116 of file vpDetectorBase.h.

std::vector<std::vector<vpImagePoint> >& vpDetectorBase::getPolygon ( )

inlineinherited

Returns object container box as a vector of points.

Examples:

mbot-apriltag-2D-half-vs.cpp, mbot-apriltag-ibvs.cpp, servoBebop2.cpp, servoFrankaIBVS.cpp, servoFrankaPBVS.cpp, testAprilTag.cpp, tutorial-apriltag-detector.cpp, tutorial-barcode-detector-live.cpp, tutorial-barcode-detector.cpp, and tutorial-pose-from-qrcode-image.cpp.

Definition at line 121 of file vpDetectorBase.h.

std::vector< vpImagePoint > & vpDetectorBase::getPolygon ( size_t  i )

inherited

Returns ith object container box as a vector of points.

Definition at line 55 of file vpDetectorBase.cpp.

References vpException::badValue, and vpDetectorBase::m_polygon.

void vpDetectorDNN::readNet	(	const std::string &	model,
		const std::string &	config = "",
		const std::string &	framework = ""
	)

Read a network, see OpenCV readNet documentation for more information.

Parameters

model	Path to a binary file of model containing trained weights. The following file extensions are expected for models from different frameworks: *.caffemodel (Caffe, http://caffe.berkeleyvision.org/) *.pb (TensorFlow, https://www.tensorflow.org/) *.t7 | *.net (Torch, http://torch.ch/) *.weights (Darknet, https://pjreddie.com/darknet/) *.bin (DLDT, https://software.intel.com/openvino-toolkit)
config	Path to a text file of model containing network configuration. It could be a file with the following extensions: *.prototxt (Caffe, http://caffe.berkeleyvision.org/) *.pbtxt (TensorFlow, https://www.tensorflow.org/) *.cfg (Darknet, https://pjreddie.com/darknet/) *.xml (DLDT, https://software.intel.com/openvino-toolkit)
framework	Optional name of an origin framework of the model. Automatically detected if it is not set.

Examples:

tutorial-dnn-object-detection-live.cpp.

Definition at line 301 of file vpDetectorDNN.cpp.

void vpDetectorDNN::setConfidenceThreshold

(

float

confThreshold

)

Set confidence threshold to filter the detections.

Parameters

confThreshold

Confidence threshold between [0, 1]

Examples:

tutorial-dnn-object-detection-live.cpp.

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.

Parameters

width	If <= 0, blob width is set to image width
height	If <= 0, blob height is set to image height

Examples:

tutorial-dnn-object-detection-live.cpp.

Definition at line 325 of file vpDetectorDNN.cpp.

void vpDetectorDNN::setMean	(	double	meanR,
		double	meanG,
		double	meanB
	)

Set mean subtraction values.

Parameters

meanR	Mean value for R-channel
meanG	Mean value for G-channel
meanB	Mean value for R-channel

Examples:

tutorial-dnn-object-detection-live.cpp.

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.

Parameters

nmsThreshold

Non-Maximum Suppression threshold between [0, 1]

Examples:

tutorial-dnn-object-detection-live.cpp.

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.

Parameters

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.

Parameters

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.

Examples:

tutorial-dnn-object-detection-live.cpp.

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).

Examples:

tutorial-dnn-object-detection-live.cpp.

Definition at line 383 of file vpDetectorDNN.cpp.

void vpDetectorBase::setTimeout ( unsigned long  timeout_ms )

inlineinherited

Set detector timeout in milli-seconds. When set to 0, there is no timeout.

Definition at line 129 of file vpDetectorBase.h.

Referenced by vpDetectorDataMatrixCode::vpDetectorDataMatrixCode().

Member Data Documentation

std::vector<std::string> vpDetectorBase::m_message

protectedinherited

Message attached to each object.

Definition at line 68 of file vpDetectorBase.h.

Referenced by detect(), vpDetectorDataMatrixCode::detect(), vpDetectorQRCode::detect(), vpDetectorAprilTag::detect(), and vpDetectorBase::getMessage().

size_t vpDetectorBase::m_nb_objects

protectedinherited

Number of detected objects.

Definition at line 69 of file vpDetectorBase.h.

Referenced by detect(), vpDetectorDataMatrixCode::detect(), vpDetectorQRCode::detect(), and vpDetectorAprilTag::detect().

std::vector<std::vector<vpImagePoint> > vpDetectorBase::m_polygon

protectedinherited

For each object, defines the polygon that contains the object.

Definition at line 67 of file vpDetectorBase.h.

Referenced by detect(), vpDetectorDataMatrixCode::detect(), vpDetectorQRCode::detect(), vpDetectorAprilTag::detect(), vpDetectorBase::getBBox(), vpDetectorBase::getCog(), vpDetectorBase::getMessage(), vpDetectorBase::getPolygon(), and vpDetectorAprilTag::getTagsCorners().

unsigned long vpDetectorBase::m_timeout_ms

protectedinherited

Detection timeout.

Definition at line 70 of file vpDetectorBase.h.

Referenced by vpDetectorDataMatrixCode::detect().