VPLAN.FINDER monitor command and program instruction

Syntax

VPLAN.FINDER (cam, mode, dmode, arg1, arg2, ambiguity) $fmods[], $bmods[]

NOTE: The parameters and operation of VPLAN.FINDER differ depending on whether your system is equipped with an EVI or AVI board. For EVI systems, see Parameters for systems equipped with an EVI board for details. For AVI systems, see Parameters for AVI systems.

Function

Set up the type of planning used by the ObjectFinder when locating models.

Usage Considerations

Adept recommends that you allow disambiguation between models by leaving the ambiguity parameter at its default value (0).

NOTE: The decision to perform intramodel symmetry disambiguation is always determined by the value set for the VTRAIN.FINDER program instruction's symmetry override parameter (mode 1, arg3). See the description of VTRAIN.FINDER for details.

Parameters for systems equipped with an EVI board

cam	Real-valued expression indicating the virtual camera number to use for associating planning with and to read parameters from.
mode	Real-valued expression indicating the planning mode: 0 = Basic initial planning 1 = Quick initial planning (for multi-instance training)
dmode	Not used.
arg1	Not used.
arg2	Not used.
ambiguity	Real-valued expression indicating the type of disambiguation: 0 = Perform intermodel disambiguation (default) 1 = Disable intermodel disambiguation
$fmods[]	An array of foreground models. Each list must contain names of valid, trained models, starting with index [0] and terminating with a null string as the last name.
$bmods[]	An array of background models. Each list must contain names of valid, trained models, starting with index [0] and terminating with a null string as the last name.

Details for systems equipped with EVI board

Foreground models are those for which you would like the ObjectFinder to return locations. Background models are those that may be present but that you are not interested in locating. Specifying these, when applicable, will help planning tell which features of the foreground models are best for finding proposals that are not ambiguous with respect to other similar-looking objects in the scene.

Description of planning modes

Mode 0 planning takes the lists of models and does all the preparation work needed for recognition ahead of time, to allow for the fastest possible recognition times. Planning is usually fairly fast but can take many seconds to compute and many Kb to store (from V+ program memory) if the total number of model pairs is large.

Mode 1 planning is faster than Mode 0 planning but causes recognition to be slower (however, you may achieve more reliable results using Mode 0).

NOTE: Mode 1 is primarily intended for implementing learning, not for normal recognition.

The differences between Mode 1 and Mode 0 are caused by several factors, most significant of which is that confirmation is not planned for in Mode 1. Therefore, during recognition, all proposals go on to verification. This can make Mode 1 planning costly since verification is a time-consuming operation.

Input parameters using virtual cameras

The following settings are required:

V.MIN.LEN[vc] = 20 Percentage of features (by length) to ignore.

For Mode 0 (normal planning), V.MIN.LEN is ignored.

For Mode 1 (quick planning), V.MIN.LEN[vc] is the number of features to use for planning. For example, a value of 20 means to plan with the 20 longest features.

The following settings are suggested:

V.MAX.VER.DIST[vc] = 5.0

Parameters for AVI systems

cam	Real-valued expression indicating the virtual camera number to use for associating planning with and to read parameters from.
mode	Real-valued expression indicating the planning mode: 0 = Basic initial planning
dmode	Not used.
arg1	Not used.
arg2	Not used.
$fmods[]	An array of foreground models. Each list must contain names of valid, trained models, starting with index [0] and terminating with a null string as the last name. If $fmods[0]="", or the parameter is not specified, the system will delete the model plan associated with cam and frees memory used to store model plans. (Requires version 15.0 or later.)
$bmods[]	An optional parameter representing an array of background models. Each list must contain names of valid, trained models, starting with index [0] and terminating with a null string as the last name. NOTE: Currently, the background model is disabled in the plan. However, if the same model is specified in the background and foreground model, the background model overrides the foreground model and the model is disabled.

Details

Retrieving Additional Plan Information

In version 16.0, the optional program ofmodel_info.v2 provides a feature to retrieve the plan information for the ObjectFinder models in the vision system. The plan information shows all the virtual cameras an ObjectFinder model is planned for. To use this facility, run the optional V+ program ofmodel_plans($model_name) with the appropriate $model_name as the input. This V+ program is included in the latest ofmodel_info.v2 program. Please contact Adept Customer Support for additional information.

 

Revision History

In version 15.0, VPLAN.FINDER was enhanced fmods parameter to improve memory management.

V+ Release	Modification
version 16.0	Added an optional feature to retrieve the plan information for the object finder models in the vision system. This functionality is included in the optional V+ program ofmodel_info.v2.
version 15.0	In version 15.0, VPLAN.FINDER was enhanced fmods parameter to improve memory management.