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

#include <opencv2/rgbd/linemod.hpp>

Collaboration diagram for cv::linemod::Detector:

Public Member Functions
	Detector ()
	Empty constructor, initialize with read().

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

int	addSyntheticTemplate (const std::vector< Template > &templates, const String &class_id)
	Add a new object template computed by external means.

int	addTemplate (const std::vector< Mat > &sources, const String &class_id, const Mat &object_mask, Rect *bounding_box=NULL)
	Add new object template.

std::vector< String >	classIds () const

const std::vector< Ptr< Modality > > &	getModalities () const
	Get the modalities used by this detector.

int	getT (int pyramid_level) const
	Get sampling step T at pyramid_level.

const std::vector< Template > &	getTemplates (const String &class_id, int template_id) const
	Get the template pyramid identified by template_id.

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.

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.

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

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

protected

◆ LinearMemoryPyramid

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

protected

◆ TemplatePyramid

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

protected

◆ TemplatesMap

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

protected

Constructor & Destructor Documentation

◆ Detector() [1/2]

cv::linemod::Detector::Detector ( )

Python:
	cv.linemod.Detector(		) ->	<linemod_Detector object>
	cv.linemod.Detector(	modalities, T_pyramid	) ->	<linemod_Detector object>

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:
	cv.linemod.Detector(		) ->	<linemod_Detector object>
	cv.linemod.Detector(	modalities, T_pyramid	) ->	<linemod_Detector object>

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:
	cv.linemod.Detector.addSyntheticTemplate(	templates, class_id	) ->	retval

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:
	cv.linemod.Detector.addTemplate(	sources, class_id, object_mask	) ->	retval, bounding_box

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:
	cv.linemod.Detector.classIds(		) ->	retval

◆ getModalities()

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

inline

Python:
	cv.linemod.Detector.getModalities(		) ->	retval

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:
	cv.linemod.Detector.getT(	pyramid_level	) ->	retval

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:
	cv.linemod.Detector.getTemplates(	class_id, template_id	) ->	retval

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:
	cv.linemod.Detector.match(	sources, threshold[, class_ids[, quantized_images[, masks]]]	) ->	matches, quantized_images

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.

Here is the call graph for this function:

◆ 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:
	cv.linemod.Detector.numClasses(		) ->	retval

◆ numTemplates() [1/2]

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

Python:
	cv.linemod.Detector.numTemplates(		) ->	retval
	cv.linemod.Detector.numTemplates(	class_id	) ->	retval

◆ numTemplates() [2/2]

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

Python:
	cv.linemod.Detector.numTemplates(		) ->	retval
	cv.linemod.Detector.numTemplates(	class_id	) ->	retval

◆ pyramidLevels()

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

inline

Python:
	cv.linemod.Detector.pyramidLevels(		) ->	retval

Get number of pyramid levels used by this detector.

◆ read()

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

Python:
	cv.linemod.Detector.read(	fn	) ->	None

◆ 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:
	cv.linemod.Detector.readClasses(	class_ids[, format]	) ->	None

◆ 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:
	cv.linemod.Detector.writeClasses(	[, format]	) ->	None

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