/////////////////////////////////////////////////////////////////////////////////////////
| 55 | |
| 56 | ////////////////////////////////////////////////////////////////////////////////////////////// |
| 57 | int |
| 58 | pcl::LINEMOD::createAndAddTemplate (const std::vector<pcl::QuantizableModality*> & modalities, |
| 59 | const std::vector<pcl::MaskMap*> & masks, |
| 60 | const pcl::RegionXY & region) |
| 61 | { |
| 62 | // assuming width and height is same for all modalities; should we check this?? |
| 63 | //const int width = modalities[0]->getQuantizedMap().getWidth (); |
| 64 | //const int height = modalities[0]->getQuantizedMap().getHeight (); |
| 65 | |
| 66 | SparseQuantizedMultiModTemplate linemod_template; |
| 67 | |
| 68 | // select N features from every modality (N = 50, hardcoded; CHANGE this to a parameter!!!) |
| 69 | const std::size_t nr_features_per_modality = 63; |
| 70 | const std::size_t nr_modalities = modalities.size(); |
| 71 | for (std::size_t modality_index = 0; modality_index < nr_modalities; ++modality_index) |
| 72 | { |
| 73 | const MaskMap & mask = *(masks[modality_index]); |
| 74 | modalities[modality_index]->extractFeatures(mask, nr_features_per_modality, modality_index, |
| 75 | linemod_template.features); |
| 76 | } |
| 77 | |
| 78 | // up to now all features are relative to the input frame; make them relative to the region center |
| 79 | //const int centerX = region.x+region.width/2; |
| 80 | //const int centerY = region.y+region.height/2; |
| 81 | |
| 82 | const std::size_t nr_features = linemod_template.features.size(); |
| 83 | for (std::size_t feature_index = 0; feature_index < nr_features; ++feature_index) |
| 84 | { |
| 85 | //linemod_template.features[feature_index].x -= centerX; |
| 86 | //linemod_template.features[feature_index].y -= centerY; |
| 87 | linemod_template.features[feature_index].x -= region.x; |
| 88 | linemod_template.features[feature_index].y -= region.y; |
| 89 | } |
| 90 | |
| 91 | // set region relative to the center |
| 92 | linemod_template.region.x = 0; |
| 93 | linemod_template.region.y = 0; |
| 94 | //linemod_template.region.x = region.x - centerX; |
| 95 | //linemod_template.region.y = region.y - centerY; |
| 96 | linemod_template.region.width = region.width; |
| 97 | linemod_template.region.height = region.height; |
| 98 | |
| 99 | // add template to template storage |
| 100 | templates_.push_back(linemod_template); |
| 101 | |
| 102 | return static_cast<int> (templates_.size () - 1); |
| 103 | } |
| 104 | |
| 105 | ////////////////////////////////////////////////////////////////////////////////////////////// |
| 106 | int |
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