Detection¶
Classes for finding a set of bounding boxes around objects of interest in an image.
RgbdDetector¶
Abstract class for detection from an RGBD image.
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class
perception.
RgbdDetector
¶ Bases:
object
Wraps methods for as many distinct objects in the image as possible.
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detect
(color_im, depth_im, cfg, camera_intr=None, T_camera_world=None)¶ Detects all relevant objects in an rgbd image pair.
Parameters: - color_im (
ColorImage
) – color image for detection - depth_im (
DepthImage
) – depth image for detection (corresponds to color image) - cfg (
YamlConfig
) – parameters of detection function - camera_intr (
CameraIntrinsics
) – intrinsics of the camera - T_camera_world (
autolab_core.RigidTransform
) – registration of the camera to world frame
Returns: all detections in the image
Return type: list
ofRgbdDetection
- color_im (
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RgbdDetection¶
-
class
perception.
RgbdDetection
(color_thumbnail, depth_thumbnail, bounding_box, binary_thumbnail=None, camera_intr=None, contour=None)¶ Bases:
object
Struct to wrap the results of rgbd detection.
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height
¶ int – height of detected object in pixels
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width
¶ int – width of detected object in pixels
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camera_intr
¶ CameraIntrinsics
– camera intrinsics that project the detected window into the camera center
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query_im
¶ ColorImage
– binary segmask for detected object as a 3-channel color image, for backwards comp
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color_im
¶ ColorImage
– color thumbnail of detected object, with object masked if binary mask available
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depth_im
¶ DepthImage
– depth thumbnail of detected object, with object masked if binary mask available
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binary_im
¶ BinaryImage
– binary segmask of detected object
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depth_im_table
¶ DepthImage
– unmasked depth image, for backwards comp
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cropped_ir_intrinsics
¶ CameraIntrinsics
– alias for camera_intr, for backwards comp
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point_normal_cloud
¶ PointNormalCloud
– point cloud with normals for the detected object
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image
(render_mode)¶ Get the image associated with a particular render mode
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RgbdForegroundMaskDetector¶
-
class
perception.
RgbdForegroundMaskDetector
¶ Bases:
perception.detector.RgbdDetector
Detect by identifying all connected components in the foreground of the images using background subtraction.
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detect
(color_im, depth_im, cfg, camera_intr=None, T_camera_world=None)¶ Detects all relevant objects in an rgbd image pair using foreground masking.
Parameters: - color_im (
ColorImage
) – color image for detection - depth_im (
DepthImage
) – depth image for detection (corresponds to color image) - cfg (
YamlConfig
) – parameters of detection function - camera_intr (
CameraIntrinsics
) – intrinsics of the camera - T_camera_world (
autolab_core.RigidTransform
) – registration of the camera to world frame
Returns: all detections in the image
Return type: list
ofRgbdDetection
- color_im (
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RgbdForegroundMaskQueryImageDetector¶
-
class
perception.
RgbdForegroundMaskQueryImageDetector
¶ Bases:
perception.detector.RgbdDetector
Detect by identifying all connected components in the foreground of the images using background subtraction. Converts all detections within a specified area into query images for a cnn. Optionally resegements the images using KMeans to remove spurious background pixels.
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detect
(color_im, depth_im, cfg, camera_intr=None, T_camera_world=None, vis_foreground=False, vis_segmentation=False)¶ Detects all relevant objects in an rgbd image pair using foreground masking.
Parameters: - color_im (
ColorImage
) – color image for detection - depth_im (
DepthImage
) – depth image for detection (corresponds to color image) - cfg (
YamlConfig
) – parameters of detection function - camera_intr (
CameraIntrinsics
) – intrinsics of the camera - T_camera_world (
autolab_core.RigidTransform
) – registration of the camera to world frame
Returns: all detections in the image
Return type: list
ofRgbdDetection
- color_im (
-