cv::linemod::Detector Class Reference

Object detector using the LINE template matching algorithm with any set of modalities. More...

#include "linemod.hpp"

Public Member Functions
	Detector ()
	Empty constructor, initialize with read(). More...
	Detector (const std::vector< Ptr< Modality > > &modalities, const std::vector< int > &T_pyramid)
	Constructor. More...
int	addSyntheticTemplate (const std::vector< Template > &templates, const String &class_id)
	Add a new object template computed by external means. More...
int	addTemplate (const std::vector< Mat > &sources, const String &class_id, const Mat &object_mask, Rect *bounding_box=NULL)
	Add new object template. More...
std::vector< String >	classIds () const
const std::vector< Ptr< Modality > > &	getModalities () const
	Get the modalities used by this detector. More...
int	getT (int pyramid_level) const
	Get sampling step T at pyramid_level. More...
const std::vector< Template > &	getTemplates (const String &class_id, int template_id) const
	Get the template pyramid identified by template_id. More...
void	match (const std::vector< Mat > &sources, float threshold, std::vector< Match > &matches, const std::vector< String > &class_ids=std::vector< String >(), OutputArrayOfArrays quantized_images=noArray(), const std::vector< Mat > &masks=std::vector< Mat >()) const
	Detect objects by template matching. More...
int	numClasses () const
int	numTemplates () const
int	numTemplates (const String &class_id) const
int	pyramidLevels () const
	Get number of pyramid levels used by this detector. More...
void	read (const FileNode &fn)
String	readClass (const FileNode &fn, const String &class_id_override="")
void	readClasses (const std::vector< String > &class_ids, const String &format="templates_%s.yml.gz")
void	write (FileStorage &fs) const
void	writeClass (const String &class_id, FileStorage &fs) const
void	writeClasses (const String &format="templates_%s.yml.gz") const

Protected Types
typedef std::vector< Mat >	LinearMemories
typedef std::vector< std::vector< LinearMemories > >	LinearMemoryPyramid
typedef std::vector< Template >	TemplatePyramid
typedef std::map< String, std::vector< TemplatePyramid > >	TemplatesMap

Protected Member Functions
void	matchClass (const LinearMemoryPyramid &lm_pyramid, const std::vector< Size > &sizes, float threshold, std::vector< Match > &matches, const String &class_id, const std::vector< TemplatePyramid > &template_pyramids) const

Protected Attributes
TemplatesMap	class_templates
std::vector< Ptr< Modality > >	modalities
int	pyramid_levels
std::vector< int >	T_at_level

Detailed Description

Object detector using the LINE template matching algorithm with any set of modalities.

Member Typedef Documentation

LinearMemories

typedef std::vector<Mat> cv::linemod::Detector::LinearMemories

protected

LinearMemoryPyramid

typedef std::vector< std::vector<LinearMemories> > cv::linemod::Detector::LinearMemoryPyramid

protected

TemplatePyramid

typedef std::vector<Template> cv::linemod::Detector::TemplatePyramid

protected

TemplatesMap

typedef std::map<String, std::vector<TemplatePyramid> > cv::linemod::Detector::TemplatesMap

protected

Constructor & Destructor Documentation

Detector() [1/2]

cv::linemod::Detector::Detector

(

)

Empty constructor, initialize with read().

Detector() [2/2]

cv::linemod::Detector::Detector	(	const std::vector< Ptr< Modality > > &	modalities,
		const std::vector< int > &	T_pyramid
	)

Constructor.

Parameters

modalities	Modalities to use (color gradients, depth normals, ...).
T_pyramid	Value of the sampling step T at each pyramid level. The number of pyramid levels is T_pyramid.size().

Member Function Documentation

addSyntheticTemplate()

int cv::linemod::Detector::addSyntheticTemplate	(	const std::vector< Template > &	templates,
		const String &	class_id
	)

Add a new object template computed by external means.

addTemplate()

int cv::linemod::Detector::addTemplate	(	const std::vector< Mat > &	sources,
		const String &	class_id,
		const Mat &	object_mask,
		Rect *	bounding_box = NULL
	)

Add new object template.

Parameters

	sources	Source images, one for each modality.
	class_id	Object class ID.
	object_mask	Mask separating object from background.
[out]	bounding_box	Optionally return bounding box of the extracted features.

Returns

Template ID, or -1 if failed to extract a valid template.

classIds()

std::vector<String> cv::linemod::Detector::classIds

(

)

const

getModalities()

const std::vector< Ptr<Modality> >& cv::linemod::Detector::getModalities ( ) const

inline

Get the modalities used by this detector.

You are not permitted to add/remove modalities, but you may dynamic_cast them to tweak parameters.

getT()

int cv::linemod::Detector::getT ( int  pyramid_level ) const

inline

Get sampling step T at pyramid_level.

getTemplates()

const std::vector<Template>& cv::linemod::Detector::getTemplates	(	const String &	class_id,
		int	template_id
	)		const

Get the template pyramid identified by template_id.

For example, with 2 modalities (Gradient, Normal) and two pyramid levels (L0, L1), the order is (GradientL0, NormalL0, GradientL1, NormalL1).

match()

void cv::linemod::Detector::match	(	const std::vector< Mat > &	sources,
		float	threshold,
		std::vector< Match > &	matches,
		const std::vector< String > &	class_ids = std::vector< String >(),
		OutputArrayOfArrays	quantized_images = noArray(),
		const std::vector< Mat > &	masks = std::vector< Mat >()
	)		const

Detect objects by template matching.

Matches globally at the lowest pyramid level, then refines locally stepping up the pyramid.

Parameters

	sources	Source images, one for each modality.
	threshold	Similarity threshold, a percentage between 0 and 100.
[out]	matches	Template matches, sorted by similarity score.
	class_ids	If non-empty, only search for the desired object classes.
[out]	quantized_images	Optionally return vector<Mat> of quantized images.
	masks	The masks for consideration during matching. The masks should be CV_8UC1 where 255 represents a valid pixel. If non-empty, the vector must be the same size as sources. Each element must be empty or the same size as its corresponding source.

matchClass()

void cv::linemod::Detector::matchClass ( const LinearMemoryPyramid &  lm_pyramid, const std::vector< Size > &  sizes, float  threshold, std::vector< Match > &  matches, const String &  class_id, const std::vector< TemplatePyramid > &  template_pyramids  ) const

protected

numClasses()

int cv::linemod::Detector::numClasses ( ) const

inline

numTemplates() [1/2]

int cv::linemod::Detector::numTemplates

(

)

const

numTemplates() [2/2]

int cv::linemod::Detector::numTemplates

(

const String &

class_id

)

const

pyramidLevels()

int cv::linemod::Detector::pyramidLevels ( ) const

inline

Get number of pyramid levels used by this detector.

read()

void cv::linemod::Detector::read

(

const FileNode &

fn

)

readClass()

String cv::linemod::Detector::readClass	(	const FileNode &	fn,
		const String &	class_id_override = ""
	)

readClasses()

void cv::linemod::Detector::readClasses	(	const std::vector< String > &	class_ids,
		const String &	format = "templates_%s.yml.gz"
	)

write()

void cv::linemod::Detector::write

(

FileStorage &

fs

)

const

writeClass()

void cv::linemod::Detector::writeClass	(	const String &	class_id,
		FileStorage &	fs
	)		const

writeClasses()

void cv::linemod::Detector::writeClasses

(

const String &

format = "templates_%s.yml.gz"

)

const

Member Data Documentation

class_templates

TemplatesMap cv::linemod::Detector::class_templates

protected

modalities

std::vector< Ptr<Modality> > cv::linemod::Detector::modalities

protected

pyramid_levels

int cv::linemod::Detector::pyramid_levels

protected

T_at_level

std::vector<int> cv::linemod::Detector::T_at_level

protected

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

• /build/master-contrib_docs-lin64/opencv_contrib/modules/rgbd/include/opencv2/rgbd/linemod.hpp