| 83 | } |
| 84 | |
| 85 | std::vector<pcl::LINEMODDetection> |
| 86 | matchTemplates (const PointCloudXYZRGBA::ConstPtr & input, const pcl::LINEMOD & linemod) |
| 87 | { |
| 88 | pcl::ColorGradientModality<pcl::PointXYZRGBA> color_grad_mod; |
| 89 | color_grad_mod.setInputCloud (input); |
| 90 | color_grad_mod.processInputData (); |
| 91 | |
| 92 | pcl::SurfaceNormalModality<pcl::PointXYZRGBA> surface_norm_mod; |
| 93 | surface_norm_mod.setInputCloud (input); |
| 94 | surface_norm_mod.processInputData (); |
| 95 | |
| 96 | std::vector<pcl::QuantizableModality*> modalities (2); |
| 97 | modalities[0] = &color_grad_mod; |
| 98 | modalities[1] = &surface_norm_mod; |
| 99 | |
| 100 | std::vector<pcl::LINEMODDetection> detections; |
| 101 | linemod.matchTemplates (modalities, detections); |
| 102 | |
| 103 | return (detections); |
| 104 | } |
| 105 | |
| 106 | void |
| 107 | compute (const PointCloudXYZRGBA::ConstPtr & input, const char * templates_filename) |
no test coverage detected