Simple salient region detection and identification using keypoint matching. More...

Inheritance diagram for SaliencySURF:

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Collaboration diagram for SaliencySURF:

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Public Member Functions
	SaliencySURF (std::string const &instance)
	Constructor.

virtual	~SaliencySURF ()
	Virtual destructor for safe inheritance.

void	postInit () override
	Get started.

void	postUninit () override
	Get stopped.

virtual void	process (jevois::InputFrame &&inframe, jevois::OutputFrame &&outframe) override
	Processing function.

Public Member Functions inherited from jevois::Module
	Module (std::string const &instance)

virtual	~Module ()

virtual void	process (InputFrame &&inframe)

virtual void	process (InputFrame &&inframe, GUIhelper &helper)

virtual void	sendSerial (std::string const &str)

virtual void	parseSerial (std::string const &str, std::shared_ptr< UserInterface > s)

virtual void	supportedCommands (std::ostream &os)

Public Member Functions inherited from jevois::Component
	Component (std::string const &instance)

virtual	~Component ()

std::shared_ptr< Comp >	addSubComponent (std::string const &instance, Args &&...args)

void	removeSubComponent (std::shared_ptr< Comp > &component)

void	removeSubComponent (std::string const &instance, bool warnIfNotFound=true)

std::shared_ptr< Comp >	getSubComponent (std::string const &instance) const

bool	isTopLevel () const

bool	initialized () const

std::string const &	className () const

std::string const &	instanceName () const

std::vector< std::string >	setParamVal (std::string const &paramdescriptor, T const &val)

void	setParamValUnique (std::string const &paramdescriptor, T const &val)

std::vector< std::pair< std::string, T > >	getParamVal (std::string const &paramdescriptor) const

T	getParamValUnique (std::string const &paramdescriptor) const

std::vector< std::string >	setParamString (std::string const &paramdescriptor, std::string const &val)

void	setParamStringUnique (std::string const &paramdescriptor, std::string const &val)

std::vector< std::pair< std::string, std::string > >	getParamString (std::string const &paramdescriptor) const

std::string	getParamStringUnique (std::string const &paramdescriptor) const

void	freezeParam (std::string const &paramdescriptor, bool doit)

void	freezeAllParams (bool doit)

std::string	descriptor () const

void	setParamsFromFile (std::string const &filename)

std::istream &	setParamsFromStream (std::istream &is, std::string const &absfile)

virtual void	paramInfo (std::shared_ptr< UserInterface > s, std::map< std::string, std::string > &categs, bool skipFrozen, std::string const &cname="", std::string const &pfx="")

void	foreachParam (std::function< void(std::string const &compname, ParameterBase *p)> func, std::string const &cname="")

std::shared_ptr< DynamicParameter< T > >	addDynamicParameter (std::string const &name, std::string const &description, T const &defaultValue, ParameterCategory const &category)

std::shared_ptr< DynamicParameter< T > >	addDynamicParameter (std::string const &name, std::string const &description, T const &defaultValue, ValidValuesSpec< T > const &validValuesSpec, ParameterCategory const &category)

void	setDynamicParameterCallback (std::string const &name, std::function< void(T const &)> cb, bool callnow=true)

void	removeDynamicParameter (std::string const &name, bool throw_if_not_found=true)

void	setPath (std::string const &path)

std::filesystem::path	absolutePath (std::filesystem::path const &path="")

std::shared_ptr< Comp >	addSubComponent (std::string const &instance, Args &&...args)

void	removeSubComponent (std::shared_ptr< Comp > &component)

void	removeSubComponent (std::string const &instance, bool warnIfNotFound=true)

std::shared_ptr< Comp >	getSubComponent (std::string const &instance) const

bool	isTopLevel () const

bool	initialized () const

std::string const &	className () const

std::string const &	instanceName () const

std::vector< std::string >	setParamVal (std::string const &paramdescriptor, T const &val)

void	setParamValUnique (std::string const &paramdescriptor, T const &val)

std::vector< std::pair< std::string, T > >	getParamVal (std::string const &paramdescriptor) const

T	getParamValUnique (std::string const &paramdescriptor) const

std::vector< std::string >	setParamString (std::string const &paramdescriptor, std::string const &val)

void	setParamStringUnique (std::string const &paramdescriptor, std::string const &val)

std::vector< std::pair< std::string, std::string > >	getParamString (std::string const &paramdescriptor) const

std::string	getParamStringUnique (std::string const &paramdescriptor) const

void	freezeParam (std::string const &paramdescriptor, bool doit)

void	freezeAllParams (bool doit)

std::string	descriptor () const

void	setParamsFromFile (std::string const &filename)

std::istream &	setParamsFromStream (std::istream &is, std::string const &absfile)

virtual void	paramInfo (std::shared_ptr< UserInterface > s, std::map< std::string, std::string > &categs, bool skipFrozen, std::string const &cname="", std::string const &pfx="")

void	foreachParam (std::function< void(std::string const &compname, ParameterBase *p)> func, std::string const &cname="")

std::shared_ptr< DynamicParameter< T > >	addDynamicParameter (std::string const &name, std::string const &description, T const &defaultValue, ParameterCategory const &category)

std::shared_ptr< DynamicParameter< T > >	addDynamicParameter (std::string const &name, std::string const &description, T const &defaultValue, ValidValuesSpec< T > const &validValuesSpec, ParameterCategory const &category)

void	setDynamicParameterCallback (std::string const &name, std::function< void(T const &)> cb, bool callnow=true)

void	removeDynamicParameter (std::string const &name, bool throw_if_not_found=true)

void	setPath (std::string const &path)

std::filesystem::path	absolutePath (std::filesystem::path const &path="")

Public Member Functions inherited from jevois::ParameterRegistry
virtual	~ParameterRegistry ()

Related Symbols
(Note that these are not member symbols.)
	JEVOIS_DECLARE_PARAMETER (inhsigma, float, "Sigma (pixels) used for inhibition of return", 32.0F, ParamCateg)
	Parameter.

	JEVOIS_DECLARE_PARAMETER (regions, size_t, "Number of salient regions", 2, ParamCateg)
	Parameter.

	JEVOIS_DECLARE_PARAMETER (rsiz, size_t, "Width and height (pixels) of salient regions", 64, ParamCateg)
	Parameter.

	JEVOIS_DECLARE_PARAMETER (save, bool, "Save regions when true, useful to create a training set. They will be saved to " PATHPREFIX, false, ParamCateg)
	Parameter.

Additional Inherited Members
Protected Member Functions inherited from jevois::Component
virtual void	preInit ()

virtual void	preUninit ()

virtual void	preInit ()

virtual void	preUninit ()

Protected Member Functions inherited from jevois::ParameterRegistry
void	addParameter (ParameterBase *const param)

void	removeParameter (ParameterBase *const param)

void	callbackInitCall ()

Detailed Description

Simple salient region detection and identification using keypoint matching.

This module finds objects by matching keypoint descriptors between a current set of salient regions and a set of training images.

Here we use SURF keypoints and descriptors as provided by OpenCV. The algorithm is quite slow and consists of 3 phases:

detect keypoint locations,
compute keypoint descriptors,
and match descriptors from current image to training image descriptors.

Here, we alternate between computing keypoints and descriptors on one frame (or more, depending on how slow that gets), and doing the matching on the next frame. This module also provides an example of letting some computation happen even after we exit the process() function. Here, we keep detecting keypoints and computing descriptors even outside process().

Also see the ObjectDetect module for a related algorithm (without attention).

Training

Simply add images of the objects you want to detect into JEVOIS:/modules/JeVois/SaliencySURF/images/ on your JeVois microSD card.

Those will be processed when the module starts.

The names of recognized objects returned by this module are simply the file names of the pictures you have added in that directory. No additional training procedure is needed.

Beware that the more images you add, the slower the algorithm will run, and the higher your chances of confusions among several of your objects.

This module provides parameters that allow you to determine how strict a match should be. With stricter matching, you may sometimes miss an object (i.e., it was there, but was not detected by the algorithm). With looser matching, you may get more false alarms (i.e., there was something else in the camera's view, but it was matched as one of your objects). If you are experiencing difficulties getting any matches, try to loosen the settings, for example:

setpar goodpts 5 ... 100
setpar distthresh 0.5

Author: Laurent Itti

Display Name:: Saliency SURF

Videomapping:: YUYV 320 288 30.0 YUYV 320 240 30.0 JeVois SaliencySURF

Email:: itti@usc.edu

Address:: University of Southern California, HNB-07A, 3641 Watt Way, Los Angeles, CA 90089-2520, USA

Copyright: Copyright (C) 2016 by Laurent Itti, iLab and the University of Southern California

Main URL:: http://jevois.org

Support URL:: http://jevois.org/doc

Other URL:: http://iLab.usc.edu

License:: GPL v3

Distribution:: Unrestricted

Restrictions:: None

Definition at line 105 of file SaliencySURF.C.

Constructor & Destructor Documentation

◆ SaliencySURF()

SaliencySURF::SaliencySURF ( std::string const & instance )

inline

Constructor.

Definition at line 111 of file SaliencySURF.C.

◆ ~SaliencySURF()

virtual SaliencySURF::~SaliencySURF ( )

inlinevirtual

Virtual destructor for safe inheritance.

Definition at line 120 of file SaliencySURF.C.

Member Function Documentation

◆ postInit()

void SaliencySURF::postInit ( )

inlineoverridevirtual

Get started.

Reimplemented from jevois::Component.

Definition at line 126 of file SaliencySURF.C.

References jevois::async(), and LINFO.

◆ postUninit()

void SaliencySURF::postUninit ( )

inlineoverridevirtual

Get stopped.

Reimplemented from jevois::Component.

Definition at line 137 of file SaliencySURF.C.

References jevois::BoundedBuffer< typename T, BlockingBehavior WhenFull, BlockingBehavior WhenEmpty >::filled_size(), LERROR, LINFO, jevois::BoundedBuffer< typename T, BlockingBehavior WhenFull, BlockingBehavior WhenEmpty >::push(), and jevois::warnAndIgnoreException().

◆ process()

virtual void SaliencySURF::process	(	jevois::InputFrame &&	inframe,
		jevois::OutputFrame &&	outframe
	)

inlineoverridevirtual

Processing function.

Reimplemented from jevois::Module.

Definition at line 152 of file SaliencySURF.C.

References jevois::async(), jevois::rawimage::convertToCvGray(), jevois::rawimage::drawFilledRect(), jevois::rawimage::drawRect(), jevois::RawImage::fmt, h, jevois::RawImage::height, jevois::yuyv::LightGreen, jevois::rawimage::paste(), jevois::BoundedBuffer< typename T, BlockingBehavior WhenFull, BlockingBehavior WhenEmpty >::push(), jevois::RawImage::require(), jevois::Timer::start(), jevois::Timer::stop(), jevois::yuyv::White, jevois::RawImage::width, and jevois::rawimage::writeText().

Friends And Related Symbol Documentation

◆ JEVOIS_DECLARE_PARAMETER() [1/4]

JEVOIS_DECLARE_PARAMETER	(	inhsigma	,
		float	,
		"Sigma (pixels) used for inhibition of return"	,
		32.	0F,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER() [2/4]

JEVOIS_DECLARE_PARAMETER	(	regions	,
		size_t	,
		"Number of salient regions"	,
		2	,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER() [3/4]

JEVOIS_DECLARE_PARAMETER	(	rsiz	,
		size_t	,
		"Width and height (pixels) of salient regions"	,
		64	,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER() [4/4]

JEVOIS_DECLARE_PARAMETER	(	save	,
		bool	,
		"Save regions when	true,
		useful to create a training set. They will be saved to "	PATHPREFIX,
		false	,
		ParamCateg
	)

The documentation for this class was generated from the following file:

src/Modules/SaliencySURF/SaliencySURF.C

Public Member Functions

Related Symbols

Additional Inherited Members

Detailed Description

Training

Constructor & Destructor Documentation

◆ SaliencySURF()

◆ ~SaliencySURF()

Member Function Documentation

◆ postInit()

◆ postUninit()

◆ process()

Friends And Related Symbol Documentation

◆ JEVOIS_DECLARE_PARAMETER() [1/4]

◆ JEVOIS_DECLARE_PARAMETER() [2/4]

◆ JEVOIS_DECLARE_PARAMETER() [3/4]

◆ JEVOIS_DECLARE_PARAMETER() [4/4]