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Merge pull request #1137 from paroj:linemod_py

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pull/1117/head
Alexander Alekhin 8 years ago
parent 32b3b4d256 621d6c2a51
commit da29f712f0
2 changed files with 96 additions and 50 deletions
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  1. 100
      modules/rgbd/include/opencv2/rgbd/linemod.hpp
  2. 46
      modules/rgbd/misc/python/pyopencv_linemod.hpp

100
modules/rgbd/include/opencv2/rgbd/linemod.hpp
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@ -60,14 +60,14 @@ namespace linemod {
/**
* \brief Discriminant feature described by its location and label.
*/
struct CV_EXPORTS Feature
struct CV_EXPORTS_W_SIMPLE Feature
{
int x; ///< x offset
int y; ///< y offset
int label; ///< Quantization
CV_PROP_RW int x; ///< x offset
CV_PROP_RW int y; ///< y offset
CV_PROP_RW int label; ///< Quantization
Feature() : x(0), y(0), label(0) {}
Feature(int x, int y, int label);
CV_WRAP Feature() : x(0), y(0), label(0) {}
CV_WRAP Feature(int x, int y, int label);
void read(const FileNode& fn);
void write(FileStorage& fs) const;
@ -75,12 +75,12 @@ struct CV_EXPORTS Feature
inline Feature::Feature(int _x, int _y, int _label) : x(_x), y(_y), label(_label) {}
struct CV_EXPORTS Template
struct CV_EXPORTS_W_SIMPLE Template
{
int width;
int height;
int pyramid_level;
std::vector<Feature> features;
CV_PROP int width;
CV_PROP int height;
CV_PROP int pyramid_level;
CV_PROP std::vector<Feature> features;
void read(const FileNode& fn);
void write(FileStorage& fs) const;
@ -89,7 +89,7 @@ struct CV_EXPORTS Template
/**
* \brief Represents a modality operating over an image pyramid.
*/
class QuantizedPyramid
class CV_EXPORTS_W QuantizedPyramid
{
public:
// Virtual destructor
@ -101,21 +101,21 @@ public:
* \param[out] dst The destination 8-bit image. For each pixel at most one bit is set,
* representing its classification.
*/
virtual void quantize(Mat& dst) const =0;
CV_WRAP virtual void quantize(CV_OUT Mat& dst) const =0;
/**
* \brief Extract most discriminant features at current pyramid level to form a new template.
*
* \param[out] templ The new template.
*/
virtual bool extractTemplate(Template& templ) const =0;
CV_WRAP virtual bool extractTemplate(CV_OUT Template& templ) const =0;
/**
* \brief Go to the next pyramid level.
*
* \todo Allow pyramid scale factor other than 2
*/
virtual void pyrDown() =0;
CV_WRAP virtual void pyrDown() =0;
protected:
/// Candidate feature with a score
@ -153,7 +153,7 @@ inline QuantizedPyramid::Candidate::Candidate(int x, int y, int label, float _sc
*
* \todo Max response, to allow optimization of summing (255/MAX) features as uint8
*/
class CV_EXPORTS Modality
class CV_EXPORTS_W Modality
{
public:
// Virtual destructor
@ -166,15 +166,15 @@ public:
* \param[in] mask Optional mask. If not empty, unmasked pixels are set to zero
* in quantized image and cannot be extracted as features.
*/
Ptr<QuantizedPyramid> process(const Mat& src,
CV_WRAP Ptr<QuantizedPyramid> process(const Mat& src,
const Mat& mask = Mat()) const
{
return processImpl(src, mask);
}
virtual String name() const =0;
CV_WRAP virtual String name() const =0;
virtual void read(const FileNode& fn) =0;
CV_WRAP virtual void read(const FileNode& fn) =0;
virtual void write(FileStorage& fs) const =0;
/**
@ -184,12 +184,12 @@ public:
* - "ColorGradient"
* - "DepthNormal"
*/
static Ptr<Modality> create(const String& modality_type);
CV_WRAP static Ptr<Modality> create(const String& modality_type);
/**
* \brief Load a modality from file.
*/
static Ptr<Modality> create(const FileNode& fn);
CV_WRAP static Ptr<Modality> create(const FileNode& fn);
protected:
// Indirection is because process() has a default parameter.
@ -274,18 +274,18 @@ protected:
/**
* \brief Debug function to colormap a quantized image for viewing.
*/
void colormap(const Mat& quantized, Mat& dst);
CV_EXPORTS_W void colormap(const Mat& quantized, CV_OUT Mat& dst);
/**
* \brief Represents a successful template match.
*/
struct CV_EXPORTS Match
struct CV_EXPORTS_W_SIMPLE Match
{
Match()
CV_WRAP Match()
{
}
Match(int x, int y, float similarity, const String& class_id, int template_id);
CV_WRAP Match(int x, int y, float similarity, const String& class_id, int template_id);
/// Sort matches with high similarity to the front
bool operator<(const Match& rhs) const
@ -302,11 +302,11 @@ struct CV_EXPORTS Match
return x == rhs.x && y == rhs.y && similarity == rhs.similarity && class_id == rhs.class_id;
}
int x;
int y;
float similarity;
String class_id;
int template_id;
CV_PROP_RW int x;
CV_PROP_RW int y;
CV_PROP_RW float similarity;
CV_PROP_RW String class_id;
CV_PROP_RW int template_id;
};
inline
@ -318,13 +318,13 @@ Match::Match(int _x, int _y, float _similarity, const String& _class_id, int _te
* \brief Object detector using the LINE template matching algorithm with any set of
* modalities.
*/
class CV_EXPORTS Detector
class CV_EXPORTS_W Detector
{
public:
/**
* \brief Empty constructor, initialize with read().
*/
Detector();
CV_WRAP Detector();
/**
* \brief Constructor.
@ -333,7 +333,7 @@ public:
* \param T_pyramid Value of the sampling step T at each pyramid level. The
* number of pyramid levels is T_pyramid.size().
*/
Detector(const std::vector< Ptr<Modality> >& modalities, const std::vector<int>& T_pyramid);
CV_WRAP Detector(const std::vector< Ptr<Modality> >& modalities, const std::vector<int>& T_pyramid);
/**
* \brief Detect objects by template matching.
@ -350,7 +350,7 @@ public:
* the same size as sources. Each element must be
* empty or the same size as its corresponding source.
*/
void match(const std::vector<Mat>& sources, float threshold, std::vector<Match>& matches,
CV_WRAP void match(const std::vector<Mat>& sources, float threshold, CV_OUT std::vector<Match>& matches,
const std::vector<String>& class_ids = std::vector<String>(),
OutputArrayOfArrays quantized_images = noArray(),
const std::vector<Mat>& masks = std::vector<Mat>()) const;
@ -365,13 +365,13 @@ public:
*
* \return Template ID, or -1 if failed to extract a valid template.
*/
int addTemplate(const std::vector<Mat>& sources, const String& class_id,
const Mat& object_mask, Rect* bounding_box = NULL);
CV_WRAP int addTemplate(const std::vector<Mat>& sources, const String& class_id,
const Mat& object_mask, CV_OUT Rect* bounding_box = NULL);
/**
* \brief Add a new object template computed by external means.
*/
int addSyntheticTemplate(const std::vector<Template>& templates, const String& class_id);
CV_WRAP int addSyntheticTemplate(const std::vector<Template>& templates, const String& class_id);
/**
* \brief Get the modalities used by this detector.
@ -379,17 +379,17 @@ public:
* You are not permitted to add/remove modalities, but you may dynamic_cast them to
* tweak parameters.
*/
const std::vector< Ptr<Modality> >& getModalities() const { return modalities; }
CV_WRAP const std::vector< Ptr<Modality> >& getModalities() const { return modalities; }
/**
* \brief Get sampling step T at pyramid_level.
*/
int getT(int pyramid_level) const { return T_at_level[pyramid_level]; }
CV_WRAP int getT(int pyramid_level) const { return T_at_level[pyramid_level]; }
/**
* \brief Get number of pyramid levels used by this detector.
*/
int pyramidLevels() const { return pyramid_levels; }
CV_WRAP int pyramidLevels() const { return pyramid_levels; }
/**
* \brief Get the template pyramid identified by template_id.
@ -397,23 +397,23 @@ public:
* For example, with 2 modalities (Gradient, Normal) and two pyramid levels
* (L0, L1), the order is (GradientL0, NormalL0, GradientL1, NormalL1).
*/
const std::vector<Template>& getTemplates(const String& class_id, int template_id) const;
CV_WRAP const std::vector<Template>& getTemplates(const String& class_id, int template_id) const;
int numTemplates() const;
int numTemplates(const String& class_id) const;
int numClasses() const { return static_cast<int>(class_templates.size()); }
CV_WRAP int numTemplates() const;
CV_WRAP int numTemplates(const String& class_id) const;
CV_WRAP int numClasses() const { return static_cast<int>(class_templates.size()); }
std::vector<String> classIds() const;
CV_WRAP std::vector<String> classIds() const;
void read(const FileNode& fn);
CV_WRAP void read(const FileNode& fn);
void write(FileStorage& fs) const;
String readClass(const FileNode& fn, const String &class_id_override = "");
void writeClass(const String& class_id, FileStorage& fs) const;
void readClasses(const std::vector<String>& class_ids,
CV_WRAP void readClasses(const std::vector<String>& class_ids,
const String& format = "templates_%s.yml.gz");
void writeClasses(const String& format = "templates_%s.yml.gz") const;
CV_WRAP void writeClasses(const String& format = "templates_%s.yml.gz") const;
protected:
std::vector< Ptr<Modality> > modalities;
@ -440,7 +440,7 @@ protected:
*
* Default parameter settings suitable for VGA images.
*/
CV_EXPORTS Ptr<Detector> getDefaultLINE();
CV_EXPORTS_W Ptr<linemod::Detector> getDefaultLINE();
/**
* \brief Factory function for detector using LINE-MOD algorithm with color gradients
@ -448,7 +448,7 @@ CV_EXPORTS Ptr<Detector> getDefaultLINE();
*
* Default parameter settings suitable for VGA images.
*/
CV_EXPORTS Ptr<Detector> getDefaultLINEMOD();
CV_EXPORTS_W Ptr<linemod::Detector> getDefaultLINEMOD();
//! @}

46
modules/rgbd/misc/python/pyopencv_linemod.hpp
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@ -0,0 +1,46 @@
#ifdef HAVE_OPENCV_RGBD
#include "opencv2/core/saturate.hpp"
template<> struct pyopencvVecConverter<linemod::Match>
{
static bool to(PyObject* obj, std::vector<linemod::Match>& value, const ArgInfo info)
{
return pyopencv_to_generic_vec(obj, value, info);
}
static PyObject* from(const std::vector<linemod::Match>& value)
{
return pyopencv_from_generic_vec(value);
}
};
template<> struct pyopencvVecConverter<linemod::Template>
{
static bool to(PyObject* obj, std::vector<linemod::Template>& value, const ArgInfo info)
{
return pyopencv_to_generic_vec(obj, value, info);
}
static PyObject* from(const std::vector<linemod::Template>& value)
{
return pyopencv_from_generic_vec(value);
}
};
template<> struct pyopencvVecConverter<Ptr<linemod::Modality> >
{
static bool to(PyObject* obj, std::vector<Ptr<linemod::Modality> >& value, const ArgInfo info)
{
return pyopencv_to_generic_vec(obj, value, info);
}
static PyObject* from(const std::vector<Ptr<linemod::Modality> >& value)
{
return pyopencv_from_generic_vec(value);
}
};
typedef std::vector<linemod::Match> vector_Match;
typedef std::vector<linemod::Template> vector_Template;
typedef std::vector<Ptr<linemod::Modality> > vector_Ptr_Modality;
#endif
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