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Diffstat (limited to 'thirdparty/linux/include/opencv2/rgbd')
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diff --git a/thirdparty/linux/include/opencv2/rgbd/linemod.hpp b/thirdparty/linux/include/opencv2/rgbd/linemod.hpp new file mode 100644 index 0000000..ac56291 --- /dev/null +++ b/thirdparty/linux/include/opencv2/rgbd/linemod.hpp @@ -0,0 +1,458 @@ +/*M/////////////////////////////////////////////////////////////////////////////////////// +// +// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. +// +// By downloading, copying, installing or using the software you agree to this license. +// If you do not agree to this license, do not download, install, +// copy or use the software. +// +// +// License Agreement +// For Open Source Computer Vision Library +// +// Copyright (C) 2000-2008, Intel Corporation, all rights reserved. +// Copyright (C) 2009, Willow Garage Inc., all rights reserved. +// Copyright (C) 2013, OpenCV Foundation, all rights reserved. +// Third party copyrights are property of their respective owners. +// +// Redistribution and use in source and binary forms, with or without modification, +// are permitted provided that the following conditions are met: +// +// * Redistribution's of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// * Redistribution's in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// +// * The name of the copyright holders may not be used to endorse or promote products +// derived from this software without specific prior written permission. +// +// This software is provided by the copyright holders and contributors "as is" and +// any express or implied warranties, including, but not limited to, the implied +// warranties of merchantability and fitness for a particular purpose are disclaimed. +// In no event shall the Intel Corporation or contributors be liable for any direct, +// indirect, incidental, special, exemplary, or consequential damages +// (including, but not limited to, procurement of substitute goods or services; +// loss of use, data, or profits; or business interruption) however caused +// and on any theory of liability, whether in contract, strict liability, +// or tort (including negligence or otherwise) arising in any way out of +// the use of this software, even if advised of the possibility of such damage. +// +//M*/ + +#ifndef __OPENCV_OBJDETECT_LINEMOD_HPP__ +#define __OPENCV_OBJDETECT_LINEMOD_HPP__ + +#include "opencv2/core.hpp" +#include <map> + +/****************************************************************************************\ +* LINE-MOD * +\****************************************************************************************/ + +namespace cv { +namespace linemod { + +//! @addtogroup rgbd +//! @{ + +/** + * \brief Discriminant feature described by its location and label. + */ +struct CV_EXPORTS Feature +{ + int x; ///< x offset + int y; ///< y offset + int label; ///< Quantization + + Feature() : x(0), y(0), label(0) {} + Feature(int x, int y, int label); + + void read(const FileNode& fn); + void write(FileStorage& fs) const; +}; + +inline Feature::Feature(int _x, int _y, int _label) : x(_x), y(_y), label(_label) {} + +struct CV_EXPORTS Template +{ + int width; + int height; + int pyramid_level; + std::vector<Feature> features; + + void read(const FileNode& fn); + void write(FileStorage& fs) const; +}; + +/** + * \brief Represents a modality operating over an image pyramid. + */ +class QuantizedPyramid +{ +public: + // Virtual destructor + virtual ~QuantizedPyramid() {} + + /** + * \brief Compute quantized image at current pyramid level for online detection. + * + * \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; + + /** + * \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; + + /** + * \brief Go to the next pyramid level. + * + * \todo Allow pyramid scale factor other than 2 + */ + virtual void pyrDown() =0; + +protected: + /// Candidate feature with a score + struct Candidate + { + Candidate(int x, int y, int label, float score); + + /// Sort candidates with high score to the front + bool operator<(const Candidate& rhs) const + { + return score > rhs.score; + } + + Feature f; + float score; + }; + + /** + * \brief Choose candidate features so that they are not bunched together. + * + * \param[in] candidates Candidate features sorted by score. + * \param[out] features Destination vector of selected features. + * \param[in] num_features Number of candidates to select. + * \param[in] distance Hint for desired distance between features. + */ + static void selectScatteredFeatures(const std::vector<Candidate>& candidates, + std::vector<Feature>& features, + size_t num_features, float distance); +}; + +inline QuantizedPyramid::Candidate::Candidate(int x, int y, int label, float _score) : f(x, y, label), score(_score) {} + +/** + * \brief Interface for modalities that plug into the LINE template matching representation. + * + * \todo Max response, to allow optimization of summing (255/MAX) features as uint8 + */ +class CV_EXPORTS Modality +{ +public: + // Virtual destructor + virtual ~Modality() {} + + /** + * \brief Form a quantized image pyramid from a source image. + * + * \param[in] src The source image. Type depends on the modality. + * \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, + const Mat& mask = Mat()) const + { + return processImpl(src, mask); + } + + virtual String name() const =0; + + virtual void read(const FileNode& fn) =0; + virtual void write(FileStorage& fs) const =0; + + /** + * \brief Create modality by name. + * + * The following modality types are supported: + * - "ColorGradient" + * - "DepthNormal" + */ + static Ptr<Modality> create(const String& modality_type); + + /** + * \brief Load a modality from file. + */ + static Ptr<Modality> create(const FileNode& fn); + +protected: + // Indirection is because process() has a default parameter. + virtual Ptr<QuantizedPyramid> processImpl(const Mat& src, + const Mat& mask) const =0; +}; + +/** + * \brief Modality that computes quantized gradient orientations from a color image. + */ +class CV_EXPORTS ColorGradient : public Modality +{ +public: + /** + * \brief Default constructor. Uses reasonable default parameter values. + */ + ColorGradient(); + + /** + * \brief Constructor. + * + * \param weak_threshold When quantizing, discard gradients with magnitude less than this. + * \param num_features How many features a template must contain. + * \param strong_threshold Consider as candidate features only gradients whose norms are + * larger than this. + */ + ColorGradient(float weak_threshold, size_t num_features, float strong_threshold); + + virtual String name() const; + + virtual void read(const FileNode& fn); + virtual void write(FileStorage& fs) const; + + float weak_threshold; + size_t num_features; + float strong_threshold; + +protected: + virtual Ptr<QuantizedPyramid> processImpl(const Mat& src, + const Mat& mask) const; +}; + +/** + * \brief Modality that computes quantized surface normals from a dense depth map. + */ +class CV_EXPORTS DepthNormal : public Modality +{ +public: + /** + * \brief Default constructor. Uses reasonable default parameter values. + */ + DepthNormal(); + + /** + * \brief Constructor. + * + * \param distance_threshold Ignore pixels beyond this distance. + * \param difference_threshold When computing normals, ignore contributions of pixels whose + * depth difference with the central pixel is above this threshold. + * \param num_features How many features a template must contain. + * \param extract_threshold Consider as candidate feature only if there are no differing + * orientations within a distance of extract_threshold. + */ + DepthNormal(int distance_threshold, int difference_threshold, size_t num_features, + int extract_threshold); + + virtual String name() const; + + virtual void read(const FileNode& fn); + virtual void write(FileStorage& fs) const; + + int distance_threshold; + int difference_threshold; + size_t num_features; + int extract_threshold; + +protected: + virtual Ptr<QuantizedPyramid> processImpl(const Mat& src, + const Mat& mask) const; +}; + +/** + * \brief Debug function to colormap a quantized image for viewing. + */ +void colormap(const Mat& quantized, Mat& dst); + +/** + * \brief Represents a successful template match. + */ +struct CV_EXPORTS Match +{ + Match() + { + } + + 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 + { + // Secondarily sort on template_id for the sake of duplicate removal + if (similarity != rhs.similarity) + return similarity > rhs.similarity; + else + return template_id < rhs.template_id; + } + + bool operator==(const Match& rhs) const + { + 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; +}; + +inline +Match::Match(int _x, int _y, float _similarity, const String& _class_id, int _template_id) + : x(_x), y(_y), similarity(_similarity), class_id(_class_id), template_id(_template_id) +{} + +/** + * \brief Object detector using the LINE template matching algorithm with any set of + * modalities. + */ +class CV_EXPORTS Detector +{ +public: + /** + * \brief Empty constructor, initialize with read(). + */ + Detector(); + + /** + * \brief Constructor. + * + * \param modalities Modalities to use (color gradients, depth normals, ...). + * \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); + + /** + * \brief Detect objects by template matching. + * + * Matches globally at the lowest pyramid level, then refines locally stepping up the pyramid. + * + * \param sources Source images, one for each modality. + * \param threshold Similarity threshold, a percentage between 0 and 100. + * \param[out] matches Template matches, sorted by similarity score. + * \param class_ids If non-empty, only search for the desired object classes. + * \param[out] quantized_images Optionally return vector<Mat> of quantized images. + * \param masks The masks for consideration during matching. The masks should be CV_8UC1 + * where 255 represents a valid pixel. If non-empty, the vector must be + * 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, + const std::vector<String>& class_ids = std::vector<String>(), + OutputArrayOfArrays quantized_images = noArray(), + const std::vector<Mat>& masks = std::vector<Mat>()) const; + + /** + * \brief Add new object template. + * + * \param sources Source images, one for each modality. + * \param class_id Object class ID. + * \param object_mask Mask separating object from background. + * \param[out] bounding_box Optionally return bounding box of the extracted features. + * + * \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); + + /** + * \brief Add a new object template computed by external means. + */ + int addSyntheticTemplate(const std::vector<Template>& templates, const String& class_id); + + /** + * \brief Get the modalities used by this detector. + * + * 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; } + + /** + * \brief Get sampling step T at pyramid_level. + */ + 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; } + + /** + * \brief Get the template pyramid identified by template_id. + * + * 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; + + int numTemplates() const; + int numTemplates(const String& class_id) const; + int numClasses() const { return static_cast<int>(class_templates.size()); } + + std::vector<String> classIds() const; + + 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, + const String& format = "templates_%s.yml.gz"); + void writeClasses(const String& format = "templates_%s.yml.gz") const; + +protected: + std::vector< Ptr<Modality> > modalities; + int pyramid_levels; + std::vector<int> T_at_level; + + typedef std::vector<Template> TemplatePyramid; + typedef std::map<String, std::vector<TemplatePyramid> > TemplatesMap; + TemplatesMap class_templates; + + typedef std::vector<Mat> LinearMemories; + // Indexed as [pyramid level][modality][quantized label] + typedef std::vector< std::vector<LinearMemories> > LinearMemoryPyramid; + + void matchClass(const LinearMemoryPyramid& lm_pyramid, + const std::vector<Size>& sizes, + float threshold, std::vector<Match>& matches, + const String& class_id, + const std::vector<TemplatePyramid>& template_pyramids) const; +}; + +/** + * \brief Factory function for detector using LINE algorithm with color gradients. + * + * Default parameter settings suitable for VGA images. + */ +CV_EXPORTS Ptr<Detector> getDefaultLINE(); + +/** + * \brief Factory function for detector using LINE-MOD algorithm with color gradients + * and depth normals. + * + * Default parameter settings suitable for VGA images. + */ +CV_EXPORTS Ptr<Detector> getDefaultLINEMOD(); + +//! @} + +} // namespace linemod +} // namespace cv + +#endif // __OPENCV_OBJDETECT_LINEMOD_HPP__ |