/usr/include/pcl-1.7/pcl/recognition/dotmod.h is in libpcl-dev 1.7.2-14build1.
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* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2010-2011, Willow Garage, Inc.
*
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#ifndef PCL_RECOGNITION_DOTMOD
#define PCL_RECOGNITION_DOTMOD
#include <vector>
#include <cstddef>
#include <string.h>
#include <pcl/pcl_macros.h>
#include <pcl/recognition/dot_modality.h>
#include <pcl/recognition/dense_quantized_multi_mod_template.h>
#include <pcl/recognition/mask_map.h>
#include <pcl/recognition/region_xy.h>
namespace pcl
{
struct DOTMODDetection
{
size_t bin_x;
size_t bin_y;
size_t template_id;
float score;
};
/**
* \brief Template matching using the DOTMOD approach.
* \author Stefan Holzer, Stefan Hinterstoisser
*/
class PCL_EXPORTS DOTMOD
{
public:
/** \brief Constructor */
DOTMOD (size_t template_width,
size_t template_height);
/** \brief Destructor */
virtual ~DOTMOD ();
/** \brief Creates a template from the specified data and adds it to the matching queue.
* \param modalities
* \param masks
* \param template_anker_x
* \param template_anker_y
* \param region
*/
size_t
createAndAddTemplate (const std::vector<DOTModality*> & modalities,
const std::vector<MaskMap*> & masks,
size_t template_anker_x,
size_t template_anker_y,
const RegionXY & region);
void
detectTemplates (const std::vector<DOTModality*> & modalities,
float template_response_threshold,
std::vector<DOTMODDetection> & detections,
const size_t bin_size) const;
inline const DenseQuantizedMultiModTemplate &
getTemplate (size_t template_id) const
{
return (templates_[template_id]);
}
inline size_t
getNumOfTemplates ()
{
return (templates_.size ());
}
void
saveTemplates (const char * file_name) const;
void
loadTemplates (const char * file_name);
void
serialize (std::ostream & stream) const;
void
deserialize (std::istream & stream);
private:
/** template width */
size_t template_width_;
/** template height */
size_t template_height_;
/** template storage */
std::vector<DenseQuantizedMultiModTemplate> templates_;
};
}
#endif
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