Point Cloud Library (PCL)  1.9.1-dev
List of all members | Public Member Functions | Public Attributes
pcl::features::ISMModel Struct Reference

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)
 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...
 
ISMModeloperator= (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...
 

Detailed Description

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.

Constructor & Destructor Documentation

◆ ISMModel() [1/2]

pcl::features::ISMModel::ISMModel ( )

Simple constructor that initializes the structure.

Definition at line 298 of file implicit_shape_model.hpp.

◆ ISMModel() [2/2]

pcl::features::ISMModel::ISMModel ( ISMModel const &  copy)

◆ ~ISMModel()

pcl::features::ISMModel::~ISMModel ( )
virtual

Destructor that frees memory.

Definition at line 352 of file implicit_shape_model.hpp.

References reset().

Member Function Documentation

◆ loadModelFromfile()

bool pcl::features::ISMModel::loadModelFromfile ( std::string &  file_name)

This method loads the trained model from file.

Parameters
[in]file_namepath 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_.

◆ operator=()

pcl::features::ISMModel & pcl::features::ISMModel::operator= ( const ISMModel other)

◆ reset()

void pcl::features::ISMModel::reset ( )

◆ saveModelToFile()

bool pcl::features::ISMModel::saveModelToFile ( std::string &  file_name)

This method simply saves the trained model for later usage.

Parameters
[in]file_namepath 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_.

Member Data Documentation

◆ classes_

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().

◆ clusters_

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().

◆ clusters_centers_

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().

◆ descriptors_dimension_

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().

◆ directions_to_center_

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().

◆ learned_weights_

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().

◆ number_of_classes_

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().

◆ number_of_clusters_

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().

◆ number_of_visual_words_

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().

◆ sigmas_

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().

◆ statistical_weights_

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().


The documentation for this struct was generated from the following files: