Point Cloud Library (PCL) 1.13.1
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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 */
63 class PCL_EXPORTS DOTMOD
64 {
65 public:
66 /** \brief Constructor */
67 DOTMOD (std::size_t template_width,
68 std::size_t template_height);
69
70 /** \brief Destructor */
71 virtual ~DOTMOD ();
72
73 /** \brief Creates a template from the specified data and adds it to the matching queue.
74 * \param modalities
75 * \param masks
76 * \param template_anker_x
77 * \param template_anker_y
78 * \param region
79 */
80 std::size_t
81 createAndAddTemplate (const std::vector<DOTModality*> & modalities,
82 const std::vector<MaskMap*> & masks,
83 std::size_t template_anker_x,
84 std::size_t template_anker_y,
85 const RegionXY & region);
86
87 void
88 detectTemplates (const std::vector<DOTModality*> & modalities,
89 float template_response_threshold,
90 std::vector<DOTMODDetection> & detections,
91 const std::size_t bin_size) const;
92
94 getTemplate (std::size_t template_id) const
95 {
96 return (templates_[template_id]);
97 }
98
99 inline std::size_t
101 {
102 return (templates_.size ());
103 }
104
105 void
106 saveTemplates (const char * file_name) const;
107
108 void
109 loadTemplates (const char * file_name);
110
111 void
112 serialize (std::ostream & stream) const;
113
114 void
115 deserialize (std::istream & stream);
116
117
118 private:
119 /** template width */
120 std::size_t template_width_;
121 /** template height */
122 std::size_t template_height_;
123 /** template storage */
124 std::vector<DenseQuantizedMultiModTemplate> templates_;
125 };
126
127}
Template matching using the DOTMOD approach.
Definition dotmod.h:64
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:100
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:94
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