128 lines
4.0 KiB
C
128 lines
4.0 KiB
C
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2010-2011, Willow Garage, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#pragma once
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#include <vector>
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#include <cstddef>
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#include <pcl/pcl_macros.h>
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#include <pcl/recognition/dot_modality.h>
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#include <pcl/recognition/dense_quantized_multi_mod_template.h>
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#include <pcl/recognition/mask_map.h>
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#include <pcl/recognition/region_xy.h>
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namespace pcl
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{
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struct DOTMODDetection
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{
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std::size_t bin_x;
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std::size_t bin_y;
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std::size_t template_id;
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float score;
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};
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/**
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* \brief Template matching using the DOTMOD approach.
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* \author Stefan Holzer, Stefan Hinterstoisser
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*/
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class PCL_EXPORTS DOTMOD
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{
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public:
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/** \brief Constructor */
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DOTMOD (std::size_t template_width,
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std::size_t template_height);
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/** \brief Destructor */
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virtual ~DOTMOD ();
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/** \brief Creates a template from the specified data and adds it to the matching queue.
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* \param modalities
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* \param masks
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* \param template_anker_x
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* \param template_anker_y
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* \param region
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*/
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std::size_t
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createAndAddTemplate (const std::vector<DOTModality*> & modalities,
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const std::vector<MaskMap*> & masks,
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std::size_t template_anker_x,
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std::size_t template_anker_y,
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const RegionXY & region);
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void
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detectTemplates (const std::vector<DOTModality*> & modalities,
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float template_response_threshold,
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std::vector<DOTMODDetection> & detections,
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const std::size_t bin_size) const;
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inline const DenseQuantizedMultiModTemplate &
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getTemplate (std::size_t template_id) const
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{
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return (templates_[template_id]);
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}
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inline std::size_t
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getNumOfTemplates ()
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{
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return (templates_.size ());
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}
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void
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saveTemplates (const char * file_name) const;
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void
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loadTemplates (const char * file_name);
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void
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serialize (std::ostream & stream) const;
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void
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deserialize (std::istream & stream);
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private:
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/** template width */
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std::size_t template_width_;
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/** template height */
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std::size_t template_height_;
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/** template storage */
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std::vector<DenseQuantizedMultiModTemplate> templates_;
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};
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}
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