Point Cloud Library (PCL)  1.9.1-dev
dotmod.h
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37 
38 #pragma once
39 
40 #include <vector>
41 #include <cstddef>
42 #include <cstring>
43 #include <pcl/pcl_macros.h>
44 #include <pcl/recognition/dot_modality.h>
45 #include <pcl/recognition/dense_quantized_multi_mod_template.h>
46 #include <pcl/recognition/mask_map.h>
47 #include <pcl/recognition/region_xy.h>
48 
49 namespace pcl
50 {
51 
53  {
54  std::size_t bin_x;
55  std::size_t bin_y;
56  std::size_t template_id;
57  float score;
58  };
59 
60  /**
61  * \brief Template matching using the DOTMOD approach.
62  * \author Stefan Holzer, Stefan Hinterstoisser
63  */
65  {
66  public:
67  /** \brief Constructor */
68  DOTMOD (std::size_t template_width,
69  std::size_t template_height);
70 
71  /** \brief Destructor */
72  virtual ~DOTMOD ();
73 
74  /** \brief Creates a template from the specified data and adds it to the matching queue.
75  * \param modalities
76  * \param masks
77  * \param template_anker_x
78  * \param template_anker_y
79  * \param region
80  */
81  std::size_t
82  createAndAddTemplate (const std::vector<DOTModality*> & modalities,
83  const std::vector<MaskMap*> & masks,
84  std::size_t template_anker_x,
85  std::size_t template_anker_y,
86  const RegionXY & region);
87 
88  void
89  detectTemplates (const std::vector<DOTModality*> & modalities,
90  float template_response_threshold,
91  std::vector<DOTMODDetection> & detections,
92  const std::size_t bin_size) const;
93 
94  inline const DenseQuantizedMultiModTemplate &
95  getTemplate (std::size_t template_id) const
96  {
97  return (templates_[template_id]);
98  }
99 
100  inline std::size_t
102  {
103  return (templates_.size ());
104  }
105 
106  void
107  saveTemplates (const char * file_name) const;
108 
109  void
110  loadTemplates (const char * file_name);
111 
112  void
113  serialize (std::ostream & stream) const;
114 
115  void
116  deserialize (std::istream & stream);
117 
118 
119  private:
120  /** template width */
121  std::size_t template_width_;
122  /** template height */
123  std::size_t template_height_;
124  /** template storage */
125  std::vector<DenseQuantizedMultiModTemplate> templates_;
126  };
127 
128 }
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
const DenseQuantizedMultiModTemplate & getTemplate(std::size_t template_id) const
Definition: dotmod.h:95
std::size_t bin_y
Definition: dotmod.h:55
Template matching using the DOTMOD approach.
Definition: dotmod.h:64
std::size_t getNumOfTemplates()
Definition: dotmod.h:101
Defines a region in XY-space.
Definition: region_xy.h:81
std::size_t bin_x
Definition: dotmod.h:54
#define PCL_EXPORTS
Definition: pcl_macros.h:241
Defines all the PCL and non-PCL macros used.
std::size_t template_id
Definition: dotmod.h:56