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

#include <opencv2/rgbd/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 ( )

Python:
	<linemod_Detector object>	=	cv.linemod_Detector(		)
	<linemod_Detector object>	=	cv.linemod_Detector(	modalities, T_pyramid	)

Empty constructor, initialize with read().

§ Detector() [2/2]

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

Python:
	<linemod_Detector object>	=	cv.linemod_Detector(		)
	<linemod_Detector object>	=	cv.linemod_Detector(	modalities, 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
	)

Python:
	retval	=	cv.linemod_Detector.addSyntheticTemplate(	templates, 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`
	)

Python:
	retval, bounding_box	=	cv.linemod_Detector.addTemplate(	sources, class_id, object_mask	)

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

Python:
	retval	=	cv.linemod_Detector.classIds(		)

§ getModalities()

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

inline

Python:
	retval	=	cv.linemod_Detector.getModalities(		)

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

Python:
	retval	=	cv.linemod_Detector.getT(	pyramid_level	)

Get sampling step T at pyramid_level.

§ getTemplates()

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

Python:
	retval	=	cv.linemod_Detector.getTemplates(	class_id, template_id	)

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

Python:
	matches, quantized_images	=	cv.linemod_Detector.match(	sources, threshold[, class_ids[, quantized_images[, masks]]]	)

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

Python:
	retval	=	cv.linemod_Detector.numClasses(		)

§ numTemplates() [1/2]

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

Python:
	retval	=	cv.linemod_Detector.numTemplates(		)
	retval	=	cv.linemod_Detector.numTemplates(	class_id	)

§ numTemplates() [2/2]

int cv::linemod::Detector::numTemplates ( const String & class_id ) const

Python:
	retval	=	cv.linemod_Detector.numTemplates(		)
	retval	=	cv.linemod_Detector.numTemplates(	class_id	)

§ pyramidLevels()

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

inline

Python:
	retval	=	cv.linemod_Detector.pyramidLevels(		)

Get number of pyramid levels used by this detector.

§ read()

void cv::linemod::Detector::read ( const FileNode & fn )

Python:
	None	=	cv.linemod_Detector.read(	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"`
	)

Python:
	None	=	cv.linemod_Detector.readClasses(	class_ids[, format]	)

§ 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

Python:
	None	=	cv.linemod_Detector.writeClasses(	[, format]	)

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

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

opencv2/rgbd/linemod.hpp

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

§ LinearMemories

§ LinearMemoryPyramid

§ TemplatePyramid

§ TemplatesMap

Constructor & Destructor Documentation

§ Detector() [1/2]

§ Detector() [2/2]

Member Function Documentation

§ addSyntheticTemplate()

§ addTemplate()

§ classIds()

§ getModalities()

§ getT()

§ getTemplates()

§ match()

§ matchClass()

§ numClasses()

§ numTemplates() [1/2]

§ numTemplates() [2/2]

§ pyramidLevels()

§ read()

§ readClass()

§ readClasses()

§ write()

§ writeClass()

§ writeClasses()

Member Data Documentation

§ class_templates

§ modalities

§ pyramid_levels

§ T_at_level