RGB-Depth Processing

Detailed Description

ICP point-to-plane odometry algorithm

Classes
class	cv::linemod::ColorGradient
	Modality that computes quantized gradient orientations from a color image. More...
class	cv::linemod::DepthNormal
	Modality that computes quantized surface normals from a dense depth map. More...
class	cv::linemod::Detector
	Object detector using the LINE template matching algorithm with any set of modalities. More...
struct	cv::linemod::Feature
	Discriminant feature described by its location and label. More...
struct	cv::linemod::Match
	Represents a successful template match. More...
class	cv::linemod::Modality
	Interface for modalities that plug into the LINE template matching representation. More...
class	cv::linemod::QuantizedPyramid
	Represents a modality operating over an image pyramid. More...
struct	cv::linemod::Template

Functions
	cv::linemod::QuantizedPyramid::Candidate::Candidate (int x, int y, int label, float score)
	cv::linemod::Feature::Feature (int x, int y, int label)
	cv::linemod::Match::Match (int x, int y, float similarity, const String &class_id, int template_id)
void	cv::linemod::colormap (const Mat &quantized, Mat &dst)
	Debug function to colormap a quantized image for viewing.
void	cv::linemod::drawFeatures (InputOutputArray img, const std::vector< Template > &templates, const Point2i &tl, int size=10)
	Debug function to draw linemod features.
Ptr< linemod::Detector >	cv::linemod::getDefaultLINE ()
	Factory function for detector using LINE algorithm with color gradients.
Ptr< linemod::Detector >	cv::linemod::getDefaultLINEMOD ()
	Factory function for detector using LINE-MOD algorithm with color gradients and depth normals.

Function Documentation

Candidate()

cv::linemod::QuantizedPyramid::Candidate::Candidate ( int x, int y, int label, float score )

inline

#include <opencv2/rgbd/linemod.hpp>

Feature()

cv::linemod::Feature::Feature ( int x, int y, int label )

inline

#include <opencv2/rgbd/linemod.hpp>

Match()

cv::linemod::Match::Match ( int x, int y, float similarity, const String & class_id, int template_id )

inline

#include <opencv2/rgbd/linemod.hpp>

colormap()

void cv::linemod::colormap	(	const Mat &	quantized,
		Mat &	dst )

#include <opencv2/rgbd/linemod.hpp>

Debug function to colormap a quantized image for viewing.

drawFeatures()

void cv::linemod::drawFeatures	(	InputOutputArray	img,
		const std::vector< Template > &	templates,
		const Point2i &	tl,
		int	size = 10 )

#include <opencv2/rgbd/linemod.hpp>

Debug function to draw linemod features.

Parameters

img
templates	see Detector::addTemplate
tl	template bbox top-left offset see Detector::addTemplate
size	marker size see cv::drawMarker

getDefaultLINE()

Ptr< linemod::Detector > cv::linemod::getDefaultLINE

(

)

#include <opencv2/rgbd/linemod.hpp>

Factory function for detector using LINE algorithm with color gradients.

Default parameter settings suitable for VGA images.

getDefaultLINEMOD()

Ptr< linemod::Detector > cv::linemod::getDefaultLINEMOD

(

)

#include <opencv2/rgbd/linemod.hpp>

Factory function for detector using LINE-MOD algorithm with color gradients and depth normals.

Default parameter settings suitable for VGA images.