Point Cloud Library (PCL)  1.7.0
dotmod.h
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37 
38 #ifndef PCL_RECOGNITION_DOTMOD
39 #define PCL_RECOGNITION_DOTMOD
40 
41 #include <vector>
42 #include <cstddef>
43 #include <string.h>
44 #include <pcl/pcl_macros.h>
45 #include <pcl/recognition/dot_modality.h>
46 #include <pcl/recognition/dense_quantized_multi_mod_template.h>
47 #include <pcl/recognition/mask_map.h>
48 #include <pcl/recognition/region_xy.h>
49 
50 namespace pcl
51 {
52 
54  {
55  size_t bin_x;
56  size_t bin_y;
57  size_t template_id;
58  float score;
59  };
60 
61  /**
62  * \brief Template matching using the DOTMOD approach.
63  * \author Stefan Holzer, Stefan Hinterstoisser
64  */
65  class PCL_EXPORTS DOTMOD
66  {
67  public:
68  /** \brief Constructor */
69  DOTMOD (size_t template_width,
70  size_t template_height);
71 
72  /** \brief Destructor */
73  virtual ~DOTMOD ();
74 
75  /** \brief Creates a template from the specified data and adds it to the matching queue.
76  * \param
77  * \param
78  * \param
79  */
80  size_t
81  createAndAddTemplate (const std::vector<DOTModality*> & modalities,
82  const std::vector<MaskMap*> & masks,
83  size_t template_anker_x,
84  size_t template_anker_y,
85  const RegionXY & region);
86 
87  void
88  detectTemplates (const std::vector<DOTModality*> & modalities,
89  float template_response_threshold,
90  std::vector<DOTMODDetection> & detections,
91  const size_t bin_size) const;
92 
93  inline const DenseQuantizedMultiModTemplate &
94  getTemplate (size_t template_id) const
95  {
96  return (templates_[template_id]);
97  }
98 
99  inline size_t
101  {
102  return (templates_.size ());
103  }
104 
105  void
106  saveTemplates (const char * file_name) const;
107 
108  void
109  loadTemplates (const char * file_name);
110 
111  void
112  serialize (std::ostream & stream) const;
113 
114  void
115  deserialize (std::istream & stream);
116 
117 
118  private:
119  /** template width */
120  size_t template_width_;
121  /** template height */
122  size_t template_height_;
123  /** template storage */
124  std::vector<DenseQuantizedMultiModTemplate> templates_;
125  };
126 
127 }
128 
129 #endif