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

(

)

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

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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