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>
82 const std::vector<MaskMap*> &
masks,
96 return (templates_[template_id]);
102 return (templates_.size ());
120 std::size_t template_width_;
122 std::size_t template_height_;
124 std::vector<DenseQuantizedMultiModTemplate> templates_;
Iterator class for point clouds with or without given indices.
Template matching using the DOTMOD approach.
void loadTemplates(const char *file_name)
DOTMOD(std::size_t template_width, std::size_t template_height)
Constructor.
std::size_t getNumOfTemplates()
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
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 ®ion)
Creates a template from the specified data and adds it to the matching queue.
void saveTemplates(const char *file_name) const
virtual ~DOTMOD()
Destructor.
const DenseQuantizedMultiModTemplate & getTemplate(std::size_t template_id) const
Defines all the PCL and non-PCL macros used.
Defines a region in XY-space.