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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 331 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 425 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 418 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 409 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 391 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 400 of file linemod.h.

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

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_l_i_n_e_m_o_d.html