Template matching using the LINEMOD approach.
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#include <pcl/recognition/linemod.h>
Template matching using the LINEMOD approach.
- Author
- Stefan Holzer, Stefan Hinterstoisser
Definition at line 335 of file linemod.h.
pcl::LINEMOD::LINEMOD |
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virtual pcl::LINEMOD::~LINEMOD |
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virtual |
Adds the specified template to the matching queue.
- Parameters
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[in] | linemod_template | the template to add. |
Creates a template from the specified data and adds it to the matching queue.
- Parameters
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[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). |
void pcl::LINEMOD::deserialize |
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std::istream & |
stream | ) |
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Deserializes templates from the specified stream.
- Parameters
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[in] | stream | the stream the templates will be read from. |
Detects the stored templates in the supplied modality data.
- Parameters
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[in] | modalities | the modalities that will be used for detection. |
[out] | detections | the destination for the detections. |
void pcl::LINEMOD::detectTemplatesSemiScaleInvariant |
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const std::vector< QuantizableModality * > & |
modalities, |
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std::vector< LINEMODDetection > & |
detections, |
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float |
min_scale = 0.6944444f , |
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float |
max_scale = 1.44f , |
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float |
scale_multiplier = 1.2f |
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) |
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Detects the stored templates in a semi scale invariant manner by applying the detection to multiple scaled versions of the input data.
- Parameters
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[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. |
size_t pcl::LINEMOD::getNumOfTemplates |
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const |
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inline |
Returns the number of stored/trained templates.
Definition at line 429 of file linemod.h.
Returns the template with the specified ID.
- Parameters
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[in] | template_id | the ID of the template to return. |
Definition at line 422 of file linemod.h.
void pcl::LINEMOD::loadTemplates |
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const char * |
file_name | ) |
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Loads templates from the specified file.
- Parameters
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[in] | file_name | the name of the file to load the template from. |
Matches the stored templates to the supplied modality data.
- Parameters
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[in] | modalities | the modalities that will be used for matching. |
[out] | matches | the found matches. |
void pcl::LINEMOD::saveTemplates |
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const char * |
file_name | ) |
const |
Saves the stored templates to the specified file.
- Parameters
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[in] | file_name | the name of the file to save the templates to. |
void pcl::LINEMOD::serialize |
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std::ostream & |
stream | ) |
const |
Serializes the stored templates to the specified stream.
- Parameters
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[in] | stream | the stream the templates will be written to. |
void pcl::LINEMOD::setDetectionAveraging |
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bool |
average_detections | ) |
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inline |
Enables/disables averaging of close detections.
- Parameters
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[in] | average_detections | determines whether to average close detections or not. |
Definition at line 413 of file linemod.h.
void pcl::LINEMOD::setDetectionThreshold |
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float |
threshold | ) |
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inline |
Sets the detection threshold.
- Parameters
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[in] | threshold | the detection threshold. |
Definition at line 395 of file linemod.h.
void pcl::LINEMOD::setNonMaxSuppression |
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bool |
use_non_max_suppression | ) |
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inline |
Enables/disables non-maximum suppression.
- Parameters
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[in] | use_non_max_suppression | determines whether to use non-maximum suppression or not. |
Definition at line 404 of file linemod.h.
The documentation for this class was generated from the following file:
- /build/buildd/pcl-1.7-1.7.0/recognition/include/pcl/recognition/linemod.h