Point Cloud Library (PCL)  1.9.1
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 modalities
77  * \param masks
78  * \param template_anker_x
79  * \param template_anker_y
80  * \param region
81  */
82  size_t
83  createAndAddTemplate (const std::vector<DOTModality*> & modalities,
84  const std::vector<MaskMap*> & masks,
85  size_t template_anker_x,
86  size_t template_anker_y,
87  const RegionXY & region);
88 
89  void
90  detectTemplates (const std::vector<DOTModality*> & modalities,
91  float template_response_threshold,
92  std::vector<DOTMODDetection> & detections,
93  const size_t bin_size) const;
94 
95  inline const DenseQuantizedMultiModTemplate &
96  getTemplate (size_t template_id) const
97  {
98  return (templates_[template_id]);
99  }
100 
101  inline size_t
103  {
104  return (templates_.size ());
105  }
106 
107  void
108  saveTemplates (const char * file_name) const;
109 
110  void
111  loadTemplates (const char * file_name);
112 
113  void
114  serialize (std::ostream & stream) const;
115 
116  void
117  deserialize (std::istream & stream);
118 
119 
120  private:
121  /** template width */
122  size_t template_width_;
123  /** template height */
124  size_t template_height_;
125  /** template storage */
126  std::vector<DenseQuantizedMultiModTemplate> templates_;
127  };
128 
129 }
130 
131 #endif
pcl
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
pcl::DOTMOD
Template matching using the DOTMOD approach.
Definition: dotmod.h:65
pcl::RegionXY
Defines a region in XY-space.
Definition: region_xy.h:82
pcl::DenseQuantizedMultiModTemplate
Definition: dense_quantized_multi_mod_template.h:78
pcl::DOTMOD::getNumOfTemplates
size_t getNumOfTemplates()
Definition: dotmod.h:102
pcl::DOTMOD::getTemplate
const DenseQuantizedMultiModTemplate & getTemplate(size_t template_id) const
Definition: dotmod.h:96
pcl::DOTMODDetection::bin_x
size_t bin_x
Definition: dotmod.h:55
pcl::DOTMODDetection::score
float score
Definition: dotmod.h:58
pcl::DOTMODDetection::template_id
size_t template_id
Definition: dotmod.h:57
pcl::DOTMODDetection
Definition: dotmod.h:53
pcl::DOTMODDetection::bin_y
size_t bin_y
Definition: dotmod.h:56