Point Cloud Library (PCL) 1.12.0
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The assignment of this structure is to store the statistical/learned weights and other information of the trained Implict 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. | |
ISMModel (ISMModel const ©) | |
Copy constructor for deep copy. | |
virtual | ~ISMModel () |
Destructor that frees memory. | |
bool | saveModelToFile (std::string &file_name) |
This method simply saves the trained model for later usage. | |
bool | loadModelFromfile (std::string &file_name) |
This method loads the trained model from file. | |
void | reset () |
this method resets all variables and frees memory. | |
ISMModel & | operator= (const ISMModel &other) |
Operator overloading for deep copy. | |
Public Attributes | |
std::vector< std::vector< float > > | statistical_weights_ |
Stores statistical weights. | |
std::vector< float > | learned_weights_ |
Stores learned weights. | |
std::vector< unsigned int > | classes_ |
Stores the class label for every direction. | |
std::vector< float > | sigmas_ |
Stores the sigma value for each class. | |
Eigen::MatrixXf | directions_to_center_ |
Stores the directions to objects center for each visual word. | |
Eigen::MatrixXf | clusters_centers_ |
Stores the centers of the clusters that were obtained during the visual words clusterization. | |
std::vector< std::vector< unsigned int > > | clusters_ |
This is an array of clusters. | |
unsigned int | number_of_classes_ |
Stores the number of classes. | |
unsigned int | number_of_visual_words_ |
Stores the number of visual words. | |
unsigned int | number_of_clusters_ |
Stores the number of clusters. | |
unsigned int | descriptors_dimension_ |
Stores descriptors dimension. | |
The assignment of this structure is to store the statistical/learned weights and other information of the trained Implict Shape Model algorithm.
Definition at line 156 of file implicit_shape_model.h.
using pcl::features::ISMModel::ConstPtr = shared_ptr<const ISMModel> |
Definition at line 159 of file implicit_shape_model.h.
using pcl::features::ISMModel::Ptr = shared_ptr<ISMModel> |
Definition at line 158 of file implicit_shape_model.h.
pcl::features::ISMModel::ISMModel | ( | ) |
Simple constructor that initializes the structure.
Definition at line 300 of file implicit_shape_model.hpp.
Copy constructor for deep copy.
Definition at line 314 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_.
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virtual |
Destructor that frees memory.
Definition at line 354 of file implicit_shape_model.hpp.
bool pcl::features::ISMModel::loadModelFromfile | ( | std::string & | file_name | ) |
This method loads the trained model from file.
[in] | file_name | path to file which stores trained model |
Definition at line 416 of file implicit_shape_model.hpp.
pcl::features::ISMModel & pcl::features::ISMModel::operator= | ( | const ISMModel & | other | ) |
Operator overloading for deep copy.
Definition at line 504 of file implicit_shape_model.hpp.
void pcl::features::ISMModel::reset | ( | ) |
this method resets all variables and frees memory.
Definition at line 487 of file implicit_shape_model.hpp.
bool pcl::features::ISMModel::saveModelToFile | ( | std::string & | file_name | ) |
This method simply saves the trained model for later usage.
[in] | file_name | path to file for saving model |
Definition at line 361 of file implicit_shape_model.hpp.
Stores the class label for every direction.
Definition at line 197 of file implicit_shape_model.h.
Referenced by ISMModel().
This is an array of clusters.
Each cluster stores the indices of the visual words that it contains.
Definition at line 209 of file implicit_shape_model.h.
Eigen::MatrixXf pcl::features::ISMModel::clusters_centers_ |
Stores the centers of the clusters that were obtained during the visual words clusterization.
Definition at line 206 of file implicit_shape_model.h.
Referenced by ISMModel().
Stores descriptors dimension.
Definition at line 221 of file implicit_shape_model.h.
Referenced by ISMModel().
Eigen::MatrixXf pcl::features::ISMModel::directions_to_center_ |
Stores the directions to objects center for each visual word.
Definition at line 203 of file implicit_shape_model.h.
Referenced by ISMModel().
std::vector<float> pcl::features::ISMModel::learned_weights_ |
Stores learned weights.
Definition at line 194 of file implicit_shape_model.h.
Referenced by ISMModel().
Stores the number of classes.
Definition at line 212 of file implicit_shape_model.h.
Referenced by ISMModel().
Stores the number of clusters.
Definition at line 218 of file implicit_shape_model.h.
Referenced by ISMModel().
Stores the number of visual words.
Definition at line 215 of file implicit_shape_model.h.
Referenced by ISMModel().
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 200 of file implicit_shape_model.h.
Referenced by ISMModel().
std::vector<std::vector<float> > pcl::features::ISMModel::statistical_weights_ |
Stores statistical weights.
Definition at line 191 of file implicit_shape_model.h.
Referenced by ISMModel().