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Change to allow the use of a customed linemod version #29

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Change to allow the use of a customed linemod version #29

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26 changes: 17 additions & 9 deletions src/linemod_detect.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -103,17 +103,22 @@ namespace ecto_linemod
struct Detector: public object_recognition_core::db::bases::ModelReaderBase {
void parameter_callback(
const object_recognition_core::db::Documents & db_documents) {
/*if (submethod.get_str() == "DefaultLINEMOD")
detector_ = cv::linemod::getDefaultLINEMOD();
else
throw std::runtime_error("Unsupported method. Supported ones are: DefaultLINEMOD");*/

if(!(*use_rgb_) && !(*use_depth_))
throw std::runtime_error("Unsupported type of input data: either use_rgb or use_depth (or both) parameters shouled be true");
if(!(*use_rgb_) && *use_depth_)
std::cout << "WARNING:: Gradients computation will be based on depth data (but not rgb image)." << std::endl;
detector_ = cv::linemod::getDefaultLINEMOD();


if(!use_customed_linemod_)
detector_ = cv::linemod::getDefaultLINEMOD();
else{
static const int T_DEFAULTS[] = {customed_linemod_T1_, customed_linemod_T1_};
std::vector< cv::Ptr<cv::linemod::Modality> > modalities;
modalities.push_back(new cv::linemod::ColorGradient());
modalities.push_back(new cv::linemod::DepthNormal());
detector_ = new cv::linemod::Detector(modalities, std::vector<int>(T_DEFAULTS, T_DEFAULTS +2));
}

BOOST_FOREACH(const object_recognition_core::db::Document & document, db_documents) {
std::string object_id = document.get_field<ObjectId>("object_id");

Expand Down Expand Up @@ -167,6 +172,9 @@ struct Detector: public object_recognition_core::db::bases::ModelReaderBase {
params.declare(&Detector::visualize_, "visualize", "If True, visualize the output.", false);
params.declare(&Detector::use_rgb_, "use_rgb", "If True, use rgb-based detector.", true);
params.declare(&Detector::use_depth_, "use_depth", "If True, use depth-based detector.", true);
params.declare(&Detector::use_customed_linemod_, "use_customed_linemod", "If True, does not use getDefaultLINEMOD.", false);
params.declare(&Detector::customed_linemod_T1_, "customed_linemod_T1", "If True, does not use getDefaultLINEMOD.", 5);
params.declare(&Detector::customed_linemod_T2_, "customed_linemod_T2", "If True, does not use getDefaultLINEMOD.", 8);
params.declare(&Detector::th_obj_dist_, "th_obj_dist", "Threshold on minimal distance between detected objects.", 0.04f);
params.declare(&Detector::verbose_, "verbose", "If True, print.", false);
params.declare(&Detector::depth_frame_id_, "depth_frame_id", "The depth camera frame id.", "camera_depth_optical_frame");
Expand Down Expand Up @@ -270,9 +278,9 @@ struct Detector: public object_recognition_core::db::bases::ModelReaderBase {
if (*use_rgb_)
{
cv::Mat color;
if (color_->rows > 960)
cv::pyrDown(color_->rowRange(0, 960), color);
else
// if (color_->rows > 960)
// cv::pyrDown(color_->rowRange(0, 960), color);
// else
color_->copyTo(color);
if (*visualize_)
display = color;
Expand Down