The assignment of this structure is to store the statistical/learned weights and other information of the trained Implicit Shape Model algorithm. More...

#include <pcl/recognition/implicit_shape_model.h>

Public Types
using	Ptr = shared_ptr< ISMModel >

using	ConstPtr = shared_ptr< const ISMModel >

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...

ISMModel &	operator= (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_ {0}
	Stores the number of classes. More...

unsigned int	number_of_visual_words_ {0}
	Stores the number of visual words. More...

unsigned int	number_of_clusters_ {0}
	Stores the number of clusters. More...

unsigned int	descriptors_dimension_ {0}
	Stores descriptors dimension. More...

Detailed Description

The assignment of this structure is to store the statistical/learned weights and other information of the trained Implicit Shape Model algorithm.

Definition at line 155 of file implicit_shape_model.h.

Member Typedef Documentation

◆ ConstPtr

using pcl::features::ISMModel::ConstPtr = shared_ptr<const ISMModel>

Definition at line 158 of file implicit_shape_model.h.

◆ Ptr

using pcl::features::ISMModel::Ptr = shared_ptr<ISMModel>

Definition at line 157 of file implicit_shape_model.h.

Constructor & Destructor Documentation

◆ ISMModel() [1/2]

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

default

Simple constructor that initializes the structure.

◆ ISMModel() [2/2]

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

Copy constructor for deep copy.

Definition at line 295 of file implicit_shape_model.hpp.

References classes_, clusters_centers_, descriptors_dimension_, directions_to_center_, learned_weights_, number_of_classes_, number_of_clusters_, number_of_visual_words_, reset(), sigmas_, and statistical_weights_.

◆ ~ISMModel()

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

virtual

Destructor that frees memory.

Definition at line 335 of file implicit_shape_model.hpp.

Member Function Documentation

◆ loadModelFromfile()

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

This method loads the trained model from file.

Parameters

[in] file_name path to file which stores trained model

Definition at line 397 of file implicit_shape_model.hpp.

◆ operator=()

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

Operator overloading for deep copy.

Definition at line 485 of file implicit_shape_model.hpp.

References classes_, clusters_centers_, descriptors_dimension_, directions_to_center_, learned_weights_, number_of_classes_, number_of_clusters_, number_of_visual_words_, sigmas_, and statistical_weights_.

◆ reset()

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

this method resets all variables and frees memory.

Definition at line 468 of file implicit_shape_model.hpp.

Referenced by ISMModel().

◆ saveModelToFile()

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

This method simply saves the trained model for later usage.

Parameters

[in] file_name path to file for saving model

Definition at line 342 of file implicit_shape_model.hpp.

Member Data Documentation

◆ classes_

std::vector<unsigned int> pcl::features::ISMModel::classes_ {}

Stores the class label for every direction.

Definition at line 196 of file implicit_shape_model.h.

Referenced by ISMModel(), and operator=().

◆ 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 208 of file implicit_shape_model.h.

◆ 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 205 of file implicit_shape_model.h.

Referenced by ISMModel(), and operator=().

◆ descriptors_dimension_

unsigned int pcl::features::ISMModel::descriptors_dimension_ {0}

Stores descriptors dimension.

Definition at line 220 of file implicit_shape_model.h.

Referenced by ISMModel(), and operator=().

◆ directions_to_center_

Eigen::MatrixXf pcl::features::ISMModel::directions_to_center_

Stores the directions to objects center for each visual word.

Definition at line 202 of file implicit_shape_model.h.

Referenced by ISMModel(), and operator=().

◆ learned_weights_

std::vector<float> pcl::features::ISMModel::learned_weights_ {}

Stores learned weights.

Definition at line 193 of file implicit_shape_model.h.

Referenced by ISMModel(), and operator=().

◆ number_of_classes_

unsigned int pcl::features::ISMModel::number_of_classes_ {0}

Stores the number of classes.

Definition at line 211 of file implicit_shape_model.h.

Referenced by ISMModel(), and operator=().

◆ number_of_clusters_

unsigned int pcl::features::ISMModel::number_of_clusters_ {0}

Stores the number of clusters.

Definition at line 217 of file implicit_shape_model.h.

Referenced by ISMModel(), and operator=().

◆ number_of_visual_words_

unsigned int pcl::features::ISMModel::number_of_visual_words_ {0}

Stores the number of visual words.

Definition at line 214 of file implicit_shape_model.h.

Referenced by ISMModel(), and operator=().

◆ 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 199 of file implicit_shape_model.h.

Referenced by ISMModel(), and operator=().

◆ statistical_weights_

std::vector<std::vector<float> > pcl::features::ISMModel::statistical_weights_ {}

Stores statistical weights.

Definition at line 190 of file implicit_shape_model.h.

Referenced by ISMModel(), and operator=().

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

pcl/recognition/implicit_shape_model.h
pcl/recognition/impl/implicit_shape_model.hpp

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ ISMModel() [1/2]

◆ ISMModel() [2/2]

◆ ~ISMModel()

Member Function Documentation

◆ loadModelFromfile()

◆ operator=()

◆ reset()

◆ saveModelToFile()

Member Data Documentation

◆ classes_

◆ clusters_

◆ clusters_centers_

◆ descriptors_dimension_

◆ directions_to_center_

◆ learned_weights_

◆ number_of_classes_

◆ number_of_clusters_

◆ number_of_visual_words_

◆ sigmas_

◆ statistical_weights_