Function compute

tools/train_linemod_template.cpp:202–227

}

void
compute (const PointCloudXYZRGBA::ConstPtr & input, float min_depth, float max_depth, float max_height,
         const std::string & template_pcd_filename, const std::string & template_sqmmt_filename)
{
  // Segment the foreground object
  std::vector<bool> foreground_mask = maskForegroundPoints (input, min_depth, max_depth, max_height);

  // Save the masked template cloud (masking with NaNs to preserve its organized structure)
  PointCloudXYZRGBA template_cloud (*input);
  for (std::size_t i = 0; i < foreground_mask.size (); ++i)
  {
    if (!foreground_mask[i])
    {
      pcl::PointXYZRGBA & p = template_cloud[i];
      p.x = p.y = p.z = std::numeric_limits<float>::quiet_NaN ();
    }
  }
  pcl::io::savePCDFile (template_pcd_filename, template_cloud);

  // Create a LINEMOD template
  pcl::LINEMOD linemod;
  trainTemplate (input, foreground_mask, linemod);

  // Save the LINEMOD template
  linemod.saveTemplates (template_sqmmt_filename.c_str());
}

/* ---[ */
int