Template matching using the LINEMOD approach. More...

#include <pcl/recognition/linemod.h>

Public Member Functions
	LINEMOD ()
	Constructor. More...

virtual	~LINEMOD ()
	Destructor. More...

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. More...

int	addTemplate (const SparseQuantizedMultiModTemplate &linemod_template)
	Adds the specified template to the matching queue. More...

void	detectTemplates (const std::vector< QuantizableModality * > &modalities, std::vector< LINEMODDetection > &detections) const
	Detects the stored templates in the supplied modality data. More...

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. More...

void	matchTemplates (const std::vector< QuantizableModality * > &modalities, std::vector< LINEMODDetection > &matches) const
	Matches the stored templates to the supplied modality data. More...

void	setDetectionThreshold (float threshold)
	Sets the detection threshold. More...

void	setNonMaxSuppression (bool use_non_max_suppression)
	Enables/disables non-maximum suppression. More...

void	setDetectionAveraging (bool average_detections)
	Enables/disables averaging of close detections. More...

const SparseQuantizedMultiModTemplate &	getTemplate (int template_id) const
	Returns the template with the specified ID. More...

std::size_t	getNumOfTemplates () const
	Returns the number of stored/trained templates. More...

void	saveTemplates (const char *file_name) const
	Saves the stored templates to the specified file. More...

void	loadTemplates (const char *file_name)
	Loads templates from the specified file. More...

void	loadTemplates (std::vector< std::string > &file_names)
	Loads templates from the specified files. More...

void	serialize (std::ostream &stream) const
	Serializes the stored templates to the specified stream. More...

void	deserialize (std::istream &stream)
	Deserializes templates from the specified stream. More...

Detailed Description

Template matching using the LINEMOD approach.

Author: Stefan Holzer, Stefan Hinterstoisser

Definition at line 326 of file linemod.h.

Constructor & Destructor Documentation

◆ LINEMOD()

pcl::LINEMOD::LINEMOD ( )

Constructor.

◆ ~LINEMOD()

virtual pcl::LINEMOD::~LINEMOD ( )

virtual

Destructor.

Member Function Documentation

◆ addTemplate()

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

Adds the specified template to the matching queue.

Parameters

[in] linemod_template the template to add.

◆ createAndAddTemplate()

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).

◆ deserialize()

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

Deserializes templates from the specified stream.

Parameters

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

◆ detectTemplates()

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.

◆ detectTemplatesSemiScaleInvariant()

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.

◆ getNumOfTemplates()

std::size_t pcl::LINEMOD::getNumOfTemplates ( ) const

inline

Returns the number of stored/trained templates.

Definition at line 420 of file linemod.h.

◆ getTemplate()

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 413 of file linemod.h.

◆ loadTemplates() [1/2]

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.

◆ loadTemplates() [2/2]

void pcl::LINEMOD::loadTemplates ( std::vector< std::string > & file_names )

Loads templates from the specified files.

Parameters

[in] file_names vector of files to load the templates from.

◆ matchTemplates()

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.

◆ saveTemplates()

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.

◆ serialize()

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.

◆ setDetectionAveraging()

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 404 of file linemod.h.

◆ setDetectionThreshold()

void pcl::LINEMOD::setDetectionThreshold ( float threshold )

inline

Sets the detection threshold.

Parameters

[in] threshold the detection threshold.

Definition at line 386 of file linemod.h.

◆ setNonMaxSuppression()

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 395 of file linemod.h.

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

pcl/recognition/linemod.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ LINEMOD()

◆ ~LINEMOD()

Member Function Documentation

◆ addTemplate()

◆ createAndAddTemplate()

◆ deserialize()

◆ detectTemplates()

◆ detectTemplatesSemiScaleInvariant()

◆ getNumOfTemplates()

◆ getTemplate()

◆ loadTemplates() [1/2]

◆ loadTemplates() [2/2]

◆ matchTemplates()

◆ saveTemplates()

◆ serialize()

◆ setDetectionAveraging()

◆ setDetectionThreshold()

◆ setNonMaxSuppression()