Point Cloud Library (PCL)
1.9.1dev

The assignment of this structure is to store the statistical/learned weights and other information of the trained Implict Shape Model algorithm. More...
#include <pcl/recognition/implicit_shape_model.h>
Public Member Functions  
ISMModel ()  
Simple constructor that initializes the structure. More...  
ISMModel (ISMModel const ©)  
Copy constructor for deep copy. More...  
virtual  ~ISMModel () 
Destructor that frees memory. More...  
bool  saveModelToFile (std::string &file_name) 
This method simply saves the trained model for later usage. More...  
bool  loadModelFromfile (std::string &file_name) 
This method loads the trained model from file. More...  
void  reset () 
this method resets all variables and frees memory. More...  
ISMModel &  operator= (const ISMModel &other) 
Operator overloading for deep copy. More...  
Public Attributes  
std::vector< std::vector< float > >  statistical_weights_ 
Stores statistical weights. More...  
std::vector< float >  learned_weights_ 
Stores learned weights. More...  
std::vector< unsigned int >  classes_ 
Stores the class label for every direction. More...  
std::vector< float >  sigmas_ 
Stores the sigma value for each class. More...  
Eigen::MatrixXf  directions_to_center_ 
Stores the directions to objects center for each visual word. More...  
Eigen::MatrixXf  clusters_centers_ 
Stores the centers of the clusters that were obtained during the visual words clusterization. More...  
std::vector< std::vector< unsigned int > >  clusters_ 
This is an array of clusters. More...  
unsigned int  number_of_classes_ 
Stores the number of classes. More...  
unsigned int  number_of_visual_words_ 
Stores the number of visual words. More...  
unsigned int  number_of_clusters_ 
Stores the number of clusters. More...  
unsigned int  descriptors_dimension_ 
Stores descriptors dimension. More...  
The assignment of this structure is to store the statistical/learned weights and other information of the trained Implict Shape Model algorithm.
Definition at line 159 of file implicit_shape_model.h.
pcl::features::ISMModel::ISMModel  (  ) 
Simple constructor that initializes the structure.
Definition at line 298 of file implicit_shape_model.hpp.
pcl::features::ISMModel::ISMModel  (  ISMModel const &  copy  ) 
Copy constructor for deep copy.
Definition at line 312 of file implicit_shape_model.hpp.
References classes_, clusters_centers_, descriptors_dimension_, directions_to_center_, learned_weights_, number_of_classes_, number_of_clusters_, number_of_visual_words_, reset(), sigmas_, and statistical_weights_.

virtual 
Destructor that frees memory.
Definition at line 352 of file implicit_shape_model.hpp.
References reset().
bool pcl::features::ISMModel::loadModelFromfile  (  std::string &  file_name  ) 
This method loads the trained model from file.
[in]  file_name  path to file which stores trained model 
Definition at line 414 of file implicit_shape_model.hpp.
References classes_, clusters_, clusters_centers_, descriptors_dimension_, directions_to_center_, learned_weights_, number_of_classes_, number_of_clusters_, number_of_visual_words_, reset(), sigmas_, and statistical_weights_.
pcl::features::ISMModel & pcl::features::ISMModel::operator=  (  const ISMModel &  other  ) 
Operator overloading for deep copy.
Definition at line 502 of file implicit_shape_model.hpp.
References classes_, clusters_centers_, descriptors_dimension_, directions_to_center_, learned_weights_, number_of_classes_, number_of_clusters_, number_of_visual_words_, reset(), sigmas_, and statistical_weights_.
void pcl::features::ISMModel::reset  (  ) 
this method resets all variables and frees memory.
Definition at line 485 of file implicit_shape_model.hpp.
References classes_, clusters_, clusters_centers_, descriptors_dimension_, directions_to_center_, learned_weights_, number_of_classes_, number_of_clusters_, number_of_visual_words_, sigmas_, and statistical_weights_.
Referenced by ISMModel(), loadModelFromfile(), operator=(), and ~ISMModel().
bool pcl::features::ISMModel::saveModelToFile  (  std::string &  file_name  ) 
This method simply saves the trained model for later usage.
[in]  file_name  path to file for saving model 
Definition at line 359 of file implicit_shape_model.hpp.
References classes_, clusters_, clusters_centers_, descriptors_dimension_, directions_to_center_, learned_weights_, number_of_classes_, number_of_clusters_, number_of_visual_words_, sigmas_, and statistical_weights_.
std::vector<unsigned int> pcl::features::ISMModel::classes_ 
Stores the class label for every direction.
Definition at line 197 of file implicit_shape_model.h.
Referenced by ISMModel(), loadModelFromfile(), operator=(), reset(), and saveModelToFile().
std::vector<std::vector<unsigned int> > pcl::features::ISMModel::clusters_ 
This is an array of clusters.
Each cluster stores the indices of the visual words that it contains.
Definition at line 209 of file implicit_shape_model.h.
Referenced by loadModelFromfile(), reset(), and saveModelToFile().
Eigen::MatrixXf pcl::features::ISMModel::clusters_centers_ 
Stores the centers of the clusters that were obtained during the visual words clusterization.
Definition at line 206 of file implicit_shape_model.h.
Referenced by ISMModel(), loadModelFromfile(), operator=(), reset(), and saveModelToFile().
unsigned int pcl::features::ISMModel::descriptors_dimension_ 
Stores descriptors dimension.
Definition at line 221 of file implicit_shape_model.h.
Referenced by ISMModel(), loadModelFromfile(), operator=(), reset(), and saveModelToFile().
Eigen::MatrixXf pcl::features::ISMModel::directions_to_center_ 
Stores the directions to objects center for each visual word.
Definition at line 203 of file implicit_shape_model.h.
Referenced by ISMModel(), loadModelFromfile(), operator=(), reset(), and saveModelToFile().
std::vector<float> pcl::features::ISMModel::learned_weights_ 
Stores learned weights.
Definition at line 194 of file implicit_shape_model.h.
Referenced by ISMModel(), loadModelFromfile(), operator=(), reset(), and saveModelToFile().
unsigned int pcl::features::ISMModel::number_of_classes_ 
Stores the number of classes.
Definition at line 212 of file implicit_shape_model.h.
Referenced by ISMModel(), loadModelFromfile(), operator=(), reset(), and saveModelToFile().
unsigned int pcl::features::ISMModel::number_of_clusters_ 
Stores the number of clusters.
Definition at line 218 of file implicit_shape_model.h.
Referenced by ISMModel(), loadModelFromfile(), operator=(), reset(), and saveModelToFile().
unsigned int pcl::features::ISMModel::number_of_visual_words_ 
Stores the number of visual words.
Definition at line 215 of file implicit_shape_model.h.
Referenced by ISMModel(), loadModelFromfile(), operator=(), reset(), and saveModelToFile().
std::vector<float> pcl::features::ISMModel::sigmas_ 
Stores the sigma value for each class.
This values were used to compute the learned weights.
Definition at line 200 of file implicit_shape_model.h.
Referenced by ISMModel(), loadModelFromfile(), operator=(), reset(), and saveModelToFile().
std::vector<std::vector<float> > pcl::features::ISMModel::statistical_weights_ 
Stores statistical weights.
Definition at line 191 of file implicit_shape_model.h.
Referenced by ISMModel(), loadModelFromfile(), operator=(), reset(), and saveModelToFile().