Point Cloud Library (PCL)  1.14.0-dev
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 
48 namespace 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  */
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 
93  inline const DenseQuantizedMultiModTemplate &
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
const DenseQuantizedMultiModTemplate & getTemplate(std::size_t template_id) const
Definition: dotmod.h:94
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.
Defines all the PCL and non-PCL macros used.
#define PCL_EXPORTS
Definition: pcl_macros.h:323
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