Point Cloud Library (PCL) 1.15.0
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dotmod.h
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37
38#pragma once
39
40#include <vector>
41#include <cstddef>
42#include <pcl/pcl_macros.h>
43#include <pcl/recognition/dot_modality.h>
44#include <pcl/recognition/dense_quantized_multi_mod_template.h>
45#include <pcl/recognition/mask_map.h>
46#include <pcl/recognition/region_xy.h>
47
48namespace pcl
49{
50
52 {
53 std::size_t bin_x;
54 std::size_t bin_y;
55 std::size_t template_id;
56 float score;
57 };
58
59 /**
60 * \brief Template matching using the DOTMOD approach.
61 * \author Stefan Holzer, Stefan Hinterstoisser
62 * \ingroup recognition
63 */
64 class PCL_EXPORTS DOTMOD
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
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}
Template matching using the DOTMOD approach.
Definition dotmod.h:65
void loadTemplates(const char *file_name)
DOTMOD(std::size_t template_width, std::size_t template_height)
Constructor.
std::size_t getNumOfTemplates()
Definition dotmod.h:101
void deserialize(std::istream &stream)
void detectTemplates(const std::vector< DOTModality * > &modalities, float template_response_threshold, std::vector< DOTMODDetection > &detections, const std::size_t bin_size) const
void serialize(std::ostream &stream) const
std::size_t createAndAddTemplate(const std::vector< DOTModality * > &modalities, const std::vector< MaskMap * > &masks, std::size_t template_anker_x, std::size_t template_anker_y, const RegionXY &region)
Creates a template from the specified data and adds it to the matching queue.
void saveTemplates(const char *file_name) const
virtual ~DOTMOD()
Destructor.
const DenseQuantizedMultiModTemplate & getTemplate(std::size_t template_id) const
Definition dotmod.h:95
Defines all the PCL and non-PCL macros used.
std::size_t template_id
Definition dotmod.h:55
std::size_t bin_y
Definition dotmod.h:54
std::size_t bin_x
Definition dotmod.h:53
Defines a region in XY-space.
Definition region_xy.h:82