Template matching using the LINEMOD approach. More...

#include <linemod.h>

Public Member Functions
int	addTemplate (const SparseQuantizedMultiModTemplate &linemod_template)
	Adds the specified template to the matching queue.
int	createAndAddTemplate (const std::vector< QuantizableModality * > &modalities, const std::vector< MaskMap * > &masks, const RegionXY &region)
	Creates a template from the specified data and adds it to the matching queue.
void	deserialize (std::istream &stream)
	Deserializes templates from the specified stream.
void	detectTemplates (const std::vector< QuantizableModality * > &modalities, std::vector< LINEMODDetection > &detections) const
	Detects the stored templates in the supplied modality data.
void	detectTemplatesSemiScaleInvariant (const std::vector< QuantizableModality * > &modalities, std::vector< LINEMODDetection > &detections, float min_scale=0.6944444f, float max_scale=1.44f, float scale_multiplier=1.2f) const
	Detects the stored templates in a semi scale invariant manner by applying the detection to multiple scaled versions of the input data.
size_t	getNumOfTemplates () const
	Returns the number of stored/trained templates.
const SparseQuantizedMultiModTemplate &	getTemplate (int template_id) const
	Returns the template with the specified ID.
	LINEMOD ()
	Constructor.
void	loadTemplates (const char *file_name)
	Loads templates from the specified file.
void	matchTemplates (const std::vector< QuantizableModality * > &modalities, std::vector< LINEMODDetection > &matches) const
	Matches the stored templates to the supplied modality data.
void	saveTemplates (const char *file_name) const
	Saves the stored templates to the specified file.
void	serialize (std::ostream &stream) const
	Serializes the stored templates to the specified stream.
void	setDetectionAveraging (bool average_detections)
	Enables/disables averaging of close detections.
void	setDetectionThreshold (float threshold)
	Sets the detection threshold.
void	setNonMaxSuppression (bool use_non_max_suppression)
	Enables/disables non-maximum suppression.
virtual	~LINEMOD ()
	Destructor.
Private Attributes
bool	average_detections_
float	template_threshold_
std::vector < SparseQuantizedMultiModTemplate >	templates_
bool	use_non_max_suppression_

Detailed Description

Template matching using the LINEMOD approach.

Author:: Stefan Holzer, Stefan Hinterstoisser

Definition at line 335 of file linemod.h.

Constructor & Destructor Documentation

pcl::LINEMOD::LINEMOD ( )

Constructor.

Definition at line 51 of file linemod.cpp.

pcl::LINEMOD::~LINEMOD ( ) [virtual]

Destructor.

Definition at line 60 of file linemod.cpp.

Member Function Documentation

int pcl::LINEMOD::addTemplate ( const SparseQuantizedMultiModTemplate & linemod_template )

Adds the specified template to the matching queue.

Parameters:

[in] linemod_template the template to add.

Definition at line 115 of file linemod.cpp.

int pcl::LINEMOD::createAndAddTemplate	(	const std::vector< QuantizableModality * > &	modalities,
		const std::vector< MaskMap * > &	masks,
		const RegionXY &	region
	)

Creates a template from the specified data and adds it to the matching queue.

Parameters:

[in]	modalities	the modalities used to create the template.
[in]	masks	the masks that determine which parts of the modalities are used for creating the template.
[in]	region	the region which will be associated with the template (can be larger than the actual modality-maps).

Definition at line 66 of file linemod.cpp.

void pcl::LINEMOD::deserialize ( std::istream & stream )

Deserializes templates from the specified stream.

Parameters:

[in] stream the stream the templates will be read from.

Definition at line 1341 of file linemod.cpp.

void pcl::LINEMOD::detectTemplates	(	const std::vector< QuantizableModality * > &	modalities,
		std::vector< LINEMODDetection > &	detections
	)		const

Detects the stored templates in the supplied modality data.

Parameters:

[in]	modalities	the modalities that will be used for detection.
[out]	detections	the destination for the detections.

Todo:: Ask Stefan why this line was used instead of the one above

Definition at line 371 of file linemod.cpp.

void pcl::LINEMOD::detectTemplatesSemiScaleInvariant	(	const std::vector< QuantizableModality * > &	modalities,
		std::vector< LINEMODDetection > &	detections,
		float	min_scale = `0.6944444f`,
		float	max_scale = `1.44f`,
		float	scale_multiplier = `1.2f`
	)		const

Detects the stored templates in a semi scale invariant manner by applying the detection to multiple scaled versions of the input data.

Parameters:

[in]	modalities	the modalities that will be used for detection.
[out]	detections	the destination for the detections.
[in]	min_scale	the minimum scale.
[in]	max_scale	the maximum scale.
[in]	scale_multiplier	the multiplier for getting from one scale to the next.

Todo:: Ask Stefan why this line was used instead of the one above

Definition at line 837 of file linemod.cpp.

size_t pcl::LINEMOD::getNumOfTemplates ( ) const [inline]

Returns the number of stored/trained templates.

Definition at line 429 of file linemod.h.

const SparseQuantizedMultiModTemplate& pcl::LINEMOD::getTemplate ( int template_id ) const [inline]

Returns the template with the specified ID.

Parameters:

[in] template_id the ID of the template to return.

Definition at line 422 of file linemod.h.

void pcl::LINEMOD::loadTemplates ( const char * file_name )

Loads templates from the specified file.

Parameters:

[in] file_name the name of the file to load the template from.

Definition at line 1319 of file linemod.cpp.

void pcl::LINEMOD::matchTemplates	(	const std::vector< QuantizableModality * > &	modalities,
		std::vector< LINEMODDetection > &	matches
	)		const

Matches the stored templates to the supplied modality data.

Parameters:

[in]	modalities	the modalities that will be used for matching.
[out]	matches	the found matches.

Definition at line 125 of file linemod.cpp.

void pcl::LINEMOD::saveTemplates ( const char * file_name ) const

Saves the stored templates to the specified file.

Parameters:

[in] file_name the name of the file to save the templates to.

Definition at line 1307 of file linemod.cpp.

void pcl::LINEMOD::serialize ( std::ostream & stream ) const

Serializes the stored templates to the specified stream.

Parameters:

[in] stream the stream the templates will be written to.

Definition at line 1331 of file linemod.cpp.

void pcl::LINEMOD::setDetectionAveraging ( bool average_detections ) [inline]

Enables/disables averaging of close detections.

Parameters:

[in] average_detections determines whether to average close detections or not.

Definition at line 413 of file linemod.h.

void pcl::LINEMOD::setDetectionThreshold ( float threshold ) [inline]

Sets the detection threshold.

Parameters:

[in] threshold the detection threshold.

Definition at line 395 of file linemod.h.

void pcl::LINEMOD::setNonMaxSuppression ( bool use_non_max_suppression ) [inline]

Enables/disables non-maximum suppression.

Parameters:

[in] use_non_max_suppression determines whether to use non-maximum suppression or not.

Definition at line 404 of file linemod.h.

Member Data Documentation

bool pcl::LINEMOD::average_detections_ [private]

states whether to return an averaged detection

Definition at line 465 of file linemod.h.

float pcl::LINEMOD::template_threshold_ [private]

template response threshold

Definition at line 461 of file linemod.h.

std::vector<SparseQuantizedMultiModTemplate> pcl::LINEMOD::templates_ [private]

template storage

Definition at line 467 of file linemod.h.

bool pcl::LINEMOD::use_non_max_suppression_ [private]

states whether non-max-suppression on detections is enabled or not

Definition at line 463 of file linemod.h.

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation