Function trainTemplate

tools/train_linemod_template.cpp:154–200

}

void
trainTemplate (const PointCloudXYZRGBA::ConstPtr & input, const std::vector<bool> &foreground_mask,
               pcl::LINEMOD & linemod)
{
  pcl::ColorGradientModality<pcl::PointXYZRGBA> color_grad_mod;
  color_grad_mod.setInputCloud (input);
  color_grad_mod.processInputData ();

  pcl::SurfaceNormalModality<pcl::PointXYZRGBA> surface_norm_mod;
  surface_norm_mod.setInputCloud (input);
  surface_norm_mod.processInputData ();

  std::vector<pcl::QuantizableModality*> modalities (2);
  modalities[0] = &color_grad_mod;
  modalities[1] = &surface_norm_mod;

  std::size_t min_x (input->width), min_y (input->height), max_x (0), max_y (0);
  pcl::MaskMap mask_map (input->width, input->height);
  for (std::size_t j = 0; j < input->height; ++j)
  {
    for (std::size_t i = 0; i < input->width; ++i)
    {
      mask_map (i,j) = foreground_mask[j*input->width+i];
      if (foreground_mask[j*input->width+i])
      {
        min_x = std::min (min_x, i);
        max_x = std::max (max_x, i);
        min_y = std::min (min_y, j);
        max_y = std::max (max_y, j);
      }
    }
  }

  std::vector<pcl::MaskMap*> masks (2);
  masks[0] = &mask_map;
  masks[1] = &mask_map;

  pcl::RegionXY region;
  region.x = static_cast<int> (min_x);
  region.y = static_cast<int> (min_y);
  region.width = static_cast<int> (max_x - min_x + 1);
  region.height = static_cast<int> (max_y - min_y + 1);

  printf ("%d %d %d %d\n", region.x, region.y, region.width, region.height);

  linemod.createAndAddTemplate (modalities, masks, region);
}

void
compute (const PointCloudXYZRGBA::ConstPtr & input, float min_depth, float max_depth, float max_height,