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

#include <objdetect.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...

void	match (const std::vector< Mat > &sources, float threshold, std::vector< Match > &matches, const std::vector< std::string > &class_ids=std::vector< std::string >(), OutputArrayOfArrays quantized_images=noArray(), const std::vector< Mat > &masks=std::vector< Mat >()) const
	Detect objects by template matching. More...

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

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

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...

int	pyramidLevels () const
	Get number of pyramid levels used by this detector. More...

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

int	numTemplates () const

int	numTemplates (const std::string &class_id) const

int	numClasses () const

std::vector< std::string >	classIds () const

void	read (const FileNode &fn)

void	write (FileStorage &fs) const

std::string	readClass (const FileNode &fn, const std::string &class_id_override="")

void	writeClass (const std::string &class_id, FileStorage &fs) const

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

void	writeClasses (const std::string &format="templates_%s.yml.gz") const

Protected Types
typedef std::vector< Template >	TemplatePyramid

typedef std::map< std::string, std::vector< TemplatePyramid > >	TemplatesMap

typedef std::vector< Mat >	LinearMemories

typedef std::vector< std::vector< LinearMemories > >	LinearMemoryPyramid

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

Protected Attributes
std::vector< Ptr< Modality > >	modalities

int	pyramid_levels

std::vector< int >	T_at_level

TemplatesMap	class_templates

Detailed Description

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

Member Typedef Documentation

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

protected

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

protected

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

protected

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

protected

Constructor & Destructor Documentation

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

Empty constructor, initialize with read().

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

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

Add a new object template computed by external means.

int cv::linemod::Detector::addTemplate	(	const std::vector< Mat > &	sources,
		const std::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.

std::vector<std::string> cv::linemod::Detector::classIds ( ) const

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.

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

inline

Get sampling step T at pyramid_level.

const std::vector<Template>& cv::linemod::Detector::getTemplates	(	const std::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).

void cv::linemod::Detector::match	(	const std::vector< Mat > &	sources,
		float	threshold,
		std::vector< Match > &	matches,
		const std::vector< std::string > &	class_ids = `std::vector< std::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.

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

protected

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

inline

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

int cv::linemod::Detector::numTemplates ( const std::string & class_id ) const

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

inline

Get number of pyramid levels used by this detector.

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

std::string cv::linemod::Detector::readClass	(	const FileNode &	fn,
		const std::string &	class_id_override = `""`
	)

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

void cv::linemod::Detector::write ( FileStorage & fs ) const

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

void cv::linemod::Detector::writeClasses ( const std::string & format = "templates_%s.yml.gz" ) const

Member Data Documentation

TemplatesMap cv::linemod::Detector::class_templates

protected

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

protected

int cv::linemod::Detector::pyramid_levels

protected

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

protected

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

objdetect/objdetect.hpp

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation