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<div class="title">ODDetection.h</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">Copyright (c) 2015, Kripasindhu Sarkar</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">All rights reserved.</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"></span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">modification, are permitted provided that the following conditions are met:</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> * Redistributions in binary form must reproduce the above copyright</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> notice, this list of conditions and the following disclaimer in the</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment"> documentation and/or other materials provided with the distribution.</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> * Neither the name of the copyright holder(s) nor the</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment"> names of its contributors may be used to endorse or promote products</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment"> derived from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment"></span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment">THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment">ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment">WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment">DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDER BE LIABLE FOR ANY</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment">DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment">(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment">LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment">ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment">(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment">SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment">*/</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment">//</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment">// Created by sarkar on 12.06.15.</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment">//</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> </div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="preprocessor">#ifndef OPENDETECTION_ODDETECTION_H</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="preprocessor"></span><span class="preprocessor">#define OPENDETECTION_ODDETECTION_H</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="preprocessor"></span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="preprocessor">#include "iostream"</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="preprocessor">#include "common/utils/utils.h"</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="preprocessor">#include "ODScene.h"</span></div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="preprocessor">#include <Eigen/Core></span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#include <opencv2/core/eigen.hpp></span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> </div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> </div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#include <pcl/point_cloud.h></span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="preprocessor">#include <pcl/point_types.h></span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="preprocessor">#include <opencv2/imgproc.hpp></span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> </div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="keyword">namespace </span>od</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> {</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="comment"></span></div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="comment"> /** \brief The base class of all the detection.</span></div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <span class="comment"> * This is the base class of all the detection classes containing the detection information. All the ODDetector s return a collection of this class (in the form of ODDetections).</span></div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> <span class="comment"> * Supports two modes: recognition (with type OD_DETECTION_RECOG) and classification (with type OD_DETECTION_CLASS). Along with the type, ODDetector sets an ID to identify what class or what instance of recognition is detected/recognied.</span></div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> <span class="comment"> * \author Kripasindhu Sarkar</span></div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detection.html"> 56</a></span>  <span class="keyword">class </span><a class="code" href="classod_1_1_o_d_detection.html">ODDetection</a></div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  {</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span> </div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span> </div>
<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detection.html#a2720d5bfd92a66b65d3f8f359ac8825f"> 61</a></span>  <a class="code" href="classod_1_1_o_d_detection.html#a2720d5bfd92a66b65d3f8f359ac8825f">OD_DEFINE_ENUM_WITH_STRING_CONVERSIONS</a>(DetectionType, (OD_DETECTION_RECOG)(OD_DETECTION_CLASS)(OD_DETECTION_NULL))</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span> </div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  virtual ~<a class="code" href="classod_1_1_o_d_detection.html">ODDetection</a>()</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  { }</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span> </div>
<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detection.html#aecd72f34d392ab1cb143ff01c47afb4a"> 66</a></span>  <a class="code" href="classod_1_1_o_d_detection.html#aecd72f34d392ab1cb143ff01c47afb4a">ODDetection</a>(DetectionType <span class="keyword">const</span> &type_ = OD_DETECTION_NULL, std::string <span class="keyword">const</span> &id_ = <span class="stringliteral">""</span>, <span class="keywordtype">double</span> confidence_ = 1) : type_(type_), id_(id_),</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  confidence_(confidence_)</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  { }</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span> </div>
<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detection.html#acfd71b2fe9fab56aad497bdfc61eb68a"> 70</a></span>  <span class="keywordtype">void</span> <a class="code" href="classod_1_1_o_d_detection.html#acfd71b2fe9fab56aad497bdfc61eb68a">printSelf</a>()</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  {</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  std::cout << <span class="stringliteral">"--Detection-- \nType: "</span> << enumToString(type_) << std::endl;</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  std::cout << <span class="stringliteral">"ID: "</span> << id_ << std::endl;</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  }</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span> </div>
<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detection.html#af458fa57019e1aaeb52fd3beb2b917dd"> 76</a></span>  DetectionType <span class="keyword">const</span> &<a class="code" href="classod_1_1_o_d_detection.html#af458fa57019e1aaeb52fd3beb2b917dd">getType</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="keywordflow">return</span> type_;</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  }</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span> </div>
<div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detection.html#a463d116387e63b9748999bbdcd3d9f6c"> 81</a></span>  <span class="keywordtype">void</span> <a class="code" href="classod_1_1_o_d_detection.html#a463d116387e63b9748999bbdcd3d9f6c">setType</a>(DetectionType <span class="keyword">const</span> &type_)</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  {</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  ODDetection::type_ = type_;</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  }</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span> </div>
<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detection.html#a4e8ca53ab1c77d431fb5b540dd51dac7"> 86</a></span>  std::string <span class="keyword">const</span> &<a class="code" href="classod_1_1_o_d_detection.html#a4e8ca53ab1c77d431fb5b540dd51dac7">getId</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <span class="keywordflow">return</span> id_;</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  }</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span> </div>
<div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detection.html#a977b9bce7e5b9455bc14149222de04f6"> 91</a></span>  <span class="keywordtype">void</span> <a class="code" href="classod_1_1_o_d_detection.html#a977b9bce7e5b9455bc14149222de04f6">setId</a>(std::string <span class="keyword">const</span> &id_)</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  {</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  ODDetection::id_ = id_;</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  }</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span> </div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span> <span class="comment"></span></div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span> <span class="comment"> /** \brief Get/Set the confidence of the detection. ODDetector can use this to provide confidence amnong several detections.</span></div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detection.html#af0f7b97e7d913be014e8da96fa2a9ff3"> 99</a></span>  <span class="keywordtype">double</span> <a class="code" href="classod_1_1_o_d_detection.html#af0f7b97e7d913be014e8da96fa2a9ff3">getConfidence</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <span class="keywordflow">return</span> confidence_;</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  }</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span> <span class="comment"></span></div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span> <span class="comment"> /** \brief Get/Set the confidence of the detection. ODDetector can use this to provide confidence amnong several detections.</span></div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detection.html#a6f0a83cec96dbf29491807cb59ad2ea1"> 106</a></span>  <span class="keywordtype">void</span> <a class="code" href="classod_1_1_o_d_detection.html#a6f0a83cec96dbf29491807cb59ad2ea1">setConfidence</a>(<span class="keywordtype">double</span> confidence_)</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  {</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  ODDetection::confidence_ = confidence_;</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  }</div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span> </div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <span class="keyword">private</span>:</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  DetectionType type_;</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  std::string id_;</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <span class="keywordtype">double</span> confidence_;</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  };</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span> <span class="comment"></span></div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span> <span class="comment"> /** \brief Detection for 2D with 2D location information</span></div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span> <span class="comment"> * \author Kripasindhu Sarkar</span></div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00122"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detection2_d.html"> 122</a></span>  <span class="keyword">class </span><a class="code" href="classod_1_1_o_d_detection2_d.html">ODDetection2D</a> : <span class="keyword">public</span> <span class="keyword">virtual</span> <a class="code" href="classod_1_1_o_d_detection.html">ODDetection</a></div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  {</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span> </div>
<div class="line"><a name="l00126"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detection2_d.html#a8843233aa3db9416e5a3b303daa2111f"> 126</a></span>  <span class="keyword">virtual</span> <a class="code" href="classod_1_1_o_d_detection2_d.html#a8843233aa3db9416e5a3b303daa2111f">~ODDetection2D</a>()</div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  { }</div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span> </div>
<div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detection2_d.html#a2a3256516a6fb07f8497b7e89372ab38"> 129</a></span>  <a class="code" href="classod_1_1_o_d_detection2_d.html#a2a3256516a6fb07f8497b7e89372ab38">ODDetection2D</a>(DetectionType <span class="keyword">const</span> &type_ = OD_DETECTION_NULL, std::string <span class="keyword">const</span> &id_ = <span class="stringliteral">""</span>, <span class="keywordtype">double</span> confidence_ = 1) : <a class="code" href="classod_1_1_o_d_detection.html">ODDetection</a>(type_, id_, confidence_)</div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  {</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  <a class="code" href="classod_1_1_o_d_detection2_d.html#a9bd0b4802081c3029036f2db68a43446">location_2d_</a> = Eigen::Vector3d::UnitZ();</div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  }</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span> </div>
<div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detection2_d.html#a7b4741f402b30faec48261b755acd6a1"> 134</a></span>  Eigen::Vector3d <span class="keyword">const</span> &<a class="code" href="classod_1_1_o_d_detection2_d.html#a7b4741f402b30faec48261b755acd6a1">getLocation</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  <span class="keywordflow">return</span> <a class="code" href="classod_1_1_o_d_detection2_d.html#a9bd0b4802081c3029036f2db68a43446">location_2d_</a>;</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  }</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span> </div>
<div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detection2_d.html#aae3c12f952016859e739c80010b7f4ea"> 139</a></span>  <span class="keywordtype">void</span> <a class="code" href="classod_1_1_o_d_detection2_d.html#aae3c12f952016859e739c80010b7f4ea">setLocation</a>(Eigen::Vector3d <span class="keyword">const</span> &location_)</div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  {</div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  <a class="code" href="classod_1_1_o_d_detection2_d.html#a9bd0b4802081c3029036f2db68a43446">ODDetection2D::location_2d_</a> = location_;</div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  }</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span> </div>
<div class="line"><a name="l00144"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detection2_d.html#aba849b3987d05e04c1678611ea7afd45"> 144</a></span>  cv::Rect <span class="keyword">const</span> &<a class="code" href="classod_1_1_o_d_detection2_d.html#aba849b3987d05e04c1678611ea7afd45">getBoundingBox</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  <span class="keywordflow">return</span> <a class="code" href="classod_1_1_o_d_detection2_d.html#ac1df4e024861973948934937e64d99e2">bounding_box_2d_</a>;</div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  }</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span> </div>
<div class="line"><a name="l00149"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detection2_d.html#afe9fbb7f79c7141954a0e765136e8456"> 149</a></span>  <span class="keywordtype">void</span> <a class="code" href="classod_1_1_o_d_detection2_d.html#afe9fbb7f79c7141954a0e765136e8456">setBoundingBox</a>(cv::Rect <span class="keyword">const</span> &bounding_box_)</div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  {</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  <a class="code" href="classod_1_1_o_d_detection2_d.html#ac1df4e024861973948934937e64d99e2">ODDetection2D::bounding_box_2d_</a> = bounding_box_;</div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  }</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span> </div>
<div class="line"><a name="l00154"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detection2_d.html#aa055b1e09beb6298a1725bc71bcac352"> 154</a></span>  cv::Mat <span class="keyword">const</span> &<a class="code" href="classod_1_1_o_d_detection2_d.html#aa055b1e09beb6298a1725bc71bcac352">getMetainfoImage</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  <span class="keywordflow">return</span> <a class="code" href="classod_1_1_o_d_detection2_d.html#a323accd6c16f26265718d4d0e237bd54">metainfo_image_</a>;</div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  }</div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span> </div>
<div class="line"><a name="l00159"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detection2_d.html#a137890df696c09aeba4ea65f868c4b39"> 159</a></span>  <span class="keywordtype">void</span> <a class="code" href="classod_1_1_o_d_detection2_d.html#a137890df696c09aeba4ea65f868c4b39">setMetainfoImage</a>(cv::Mat <span class="keyword">const</span> &<a class="code" href="classod_1_1_o_d_detection2_d.html#a323accd6c16f26265718d4d0e237bd54">metainfo_image_</a>)</div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  {</div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  <a class="code" href="classod_1_1_o_d_detection2_d.html#a323accd6c16f26265718d4d0e237bd54">ODDetection2D::metainfo_image_</a> = <a class="code" href="classod_1_1_o_d_detection2_d.html#a323accd6c16f26265718d4d0e237bd54">metainfo_image_</a>;</div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  }</div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span> </div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span> </div>
<div class="line"><a name="l00165"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detection2_d.html#a9bd0b4802081c3029036f2db68a43446"> 165</a></span>  Eigen::Vector3d <a class="code" href="classod_1_1_o_d_detection2_d.html#a9bd0b4802081c3029036f2db68a43446">location_2d_</a>;</div>
<div class="line"><a name="l00166"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detection2_d.html#ac1df4e024861973948934937e64d99e2"> 166</a></span>  cv::Rect <a class="code" href="classod_1_1_o_d_detection2_d.html#ac1df4e024861973948934937e64d99e2">bounding_box_2d_</a>;</div>
<div class="line"><a name="l00167"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detection2_d.html#a323accd6c16f26265718d4d0e237bd54"> 167</a></span>  cv::Mat <a class="code" href="classod_1_1_o_d_detection2_d.html#a323accd6c16f26265718d4d0e237bd54">metainfo_image_</a>;</div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  };</div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span> <span class="comment"></span></div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span> <span class="comment"> /** \brief Detection in 3D with 3D location information.</span></div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span> <span class="comment"> * \author Kripasindhu Sarkar</span></div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00175"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detection3_d.html"> 175</a></span>  <span class="keyword">class </span><a class="code" href="classod_1_1_o_d_detection3_d.html">ODDetection3D</a> : <span class="keyword">public</span> <span class="keyword">virtual</span> <a class="code" href="classod_1_1_o_d_detection.html">ODDetection</a></div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  {</div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00178"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detection3_d.html#a51098770f6672412897a188150203cfc"> 178</a></span>  <span class="keyword">virtual</span> <a class="code" href="classod_1_1_o_d_detection3_d.html#a51098770f6672412897a188150203cfc">~ODDetection3D</a>()</div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  { }</div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span> </div>
<div class="line"><a name="l00181"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detection3_d.html#a91a00e631f4824daf9aef725a3eb3619"> 181</a></span>  Eigen::Vector4d <span class="keyword">const</span> &<a class="code" href="classod_1_1_o_d_detection3_d.html#a91a00e631f4824daf9aef725a3eb3619">getLocation</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  <span class="keywordflow">return</span> <a class="code" href="classod_1_1_o_d_detection3_d.html#af1164f1af4cd025075d996c0f3903935">location_3d_</a>;</div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  }</div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span> </div>
<div class="line"><a name="l00186"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detection3_d.html#ab9aa58caf5195e03d45f70fa4c698853"> 186</a></span>  <span class="keywordtype">void</span> <a class="code" href="classod_1_1_o_d_detection3_d.html#ab9aa58caf5195e03d45f70fa4c698853">setLocation</a>(Eigen::Vector4d <span class="keyword">const</span> &location_)</div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  {</div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  <a class="code" href="classod_1_1_o_d_detection3_d.html#af1164f1af4cd025075d996c0f3903935">ODDetection3D::location_3d_</a> = location_;</div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  }</div>
<div class="line"><a name="l00190"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detection3_d.html#a0ecb4091a4b561035c4dae850784d9ac"> 190</a></span>  <span class="keywordtype">void</span> <a class="code" href="classod_1_1_o_d_detection3_d.html#a0ecb4091a4b561035c4dae850784d9ac">setLocation</a>(cv::Mat <span class="keyword">const</span> &location_)</div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  {</div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  cv::cv2eigen(location_, this-><a class="code" href="classod_1_1_o_d_detection3_d.html#af1164f1af4cd025075d996c0f3903935">location_3d_</a>);</div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  }</div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span> </div>
<div class="line"><a name="l00195"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detection3_d.html#a1d79cfa44c06a66f68d9886559bbddc3"> 195</a></span>  Eigen::Matrix3Xd <span class="keyword">const</span> &<a class="code" href="classod_1_1_o_d_detection3_d.html#a1d79cfa44c06a66f68d9886559bbddc3">getPose</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  <span class="keywordflow">return</span> <a class="code" href="classod_1_1_o_d_detection3_d.html#a1cbbaadd324878a9665290d6056eeb10">orientation_</a>;</div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  }</div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span> </div>
<div class="line"><a name="l00200"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detection3_d.html#a4acd86720cd4806e55fe006b019474bf"> 200</a></span>  <span class="keywordtype">void</span> <a class="code" href="classod_1_1_o_d_detection3_d.html#a4acd86720cd4806e55fe006b019474bf">setPose</a>(Eigen::Matrix3Xd <span class="keyword">const</span> &pose_)</div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  {</div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  <a class="code" href="classod_1_1_o_d_detection3_d.html#a1cbbaadd324878a9665290d6056eeb10">ODDetection3D::orientation_</a> = pose_;</div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  }</div>
<div class="line"><a name="l00204"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detection3_d.html#a59eea6dd5881598d5332630bc3a1b132"> 204</a></span>  <span class="keywordtype">void</span> <a class="code" href="classod_1_1_o_d_detection3_d.html#a59eea6dd5881598d5332630bc3a1b132">setPose</a>(cv::Mat <span class="keyword">const</span> & pose_cv)</div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  {</div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  this-><a class="code" href="classod_1_1_o_d_detection3_d.html#a1cbbaadd324878a9665290d6056eeb10">orientation_</a> = Eigen::Map<Eigen::Matrix3d>(pose_cv.clone().ptr<<span class="keywordtype">double</span>>());</div>
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  }</div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span> </div>
<div class="line"><a name="l00209"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detection3_d.html#ad64267894262d410c7bc99adf88af188"> 209</a></span>  <span class="keywordtype">double</span> <a class="code" href="classod_1_1_o_d_detection3_d.html#ad64267894262d410c7bc99adf88af188">getScale</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  <span class="keywordflow">return</span> <a class="code" href="classod_1_1_o_d_detection3_d.html#a6d995a1d9e00bd164c9c3bf90159d01e">scale_</a>;</div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  }</div>
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span> </div>
<div class="line"><a name="l00214"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detection3_d.html#aa7d54677b81ae52a05f3794a028c08a7"> 214</a></span>  <span class="keywordtype">void</span> <a class="code" href="classod_1_1_o_d_detection3_d.html#aa7d54677b81ae52a05f3794a028c08a7">setScale</a>(<span class="keywordtype">double</span> scale)</div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  {</div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  <a class="code" href="classod_1_1_o_d_detection3_d.html#a6d995a1d9e00bd164c9c3bf90159d01e">ODDetection3D::scale_</a> = scale;</div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  }</div>
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span> </div>
<div class="line"><a name="l00219"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detection3_d.html#a9f35b939f0d04d3afed2e361724233e5"> 219</a></span>  cv::Mat <span class="keyword">const</span> &<a class="code" href="classod_1_1_o_d_detection3_d.html#a9f35b939f0d04d3afed2e361724233e5">getMetainfoImage</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  <span class="keywordflow">return</span> <a class="code" href="classod_1_1_o_d_detection3_d.html#a3935efc552b4c04a17960cac43f04de9">metainfo_image_</a>;</div>
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  }</div>
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span> </div>
<div class="line"><a name="l00224"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detection3_d.html#afa837b87ee21b0bf09ab588be9ca7895"> 224</a></span>  <span class="keywordtype">void</span> <a class="code" href="classod_1_1_o_d_detection3_d.html#afa837b87ee21b0bf09ab588be9ca7895">setMetainfoImage</a>(cv::Mat <span class="keyword">const</span> &metainfo_image)</div>
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  {</div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  <a class="code" href="classod_1_1_o_d_detection3_d.html#a3935efc552b4c04a17960cac43f04de9">ODDetection3D::metainfo_image_</a> = metainfo_image;</div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  }</div>
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span> </div>
<div class="line"><a name="l00229"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detection3_d.html#afc1af0d12ababd51eb3f9e4ae9cde53f"> 229</a></span>  <span class="keyword">typename</span> pcl::PointCloud<pcl::PointXYZ>::Ptr <span class="keyword">const</span> &<a class="code" href="classod_1_1_o_d_detection3_d.html#afc1af0d12ababd51eb3f9e4ae9cde53f">getMetainfoCluster</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  <span class="keywordflow">return</span> <a class="code" href="classod_1_1_o_d_detection3_d.html#a75a43bd18af5a2adb284c653e49766e5">metainfo_cluster_</a>;</div>
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  }</div>
<div class="line"><a name="l00233"></a><span class="lineno"> 233</span> </div>
<div class="line"><a name="l00234"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detection3_d.html#a2c0ae709f7e63523b39e7d009563d1b4"> 234</a></span>  <span class="keywordtype">void</span> <a class="code" href="classod_1_1_o_d_detection3_d.html#a2c0ae709f7e63523b39e7d009563d1b4">setMetainfoCluster</a>(<span class="keyword">typename</span> pcl::PointCloud<pcl::PointXYZ>::Ptr <span class="keyword">const</span> &<a class="code" href="classod_1_1_o_d_detection3_d.html#a75a43bd18af5a2adb284c653e49766e5">metainfo_cluster_</a>)</div>
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  {</div>
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  <a class="code" href="classod_1_1_o_d_detection3_d.html#a75a43bd18af5a2adb284c653e49766e5">ODDetection3D::metainfo_cluster_</a> = <a class="code" href="classod_1_1_o_d_detection3_d.html#a75a43bd18af5a2adb284c653e49766e5">metainfo_cluster_</a>;</div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  }</div>
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span> </div>
<div class="line"><a name="l00239"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detection3_d.html#ab330a673a4fa2c352d29c5e1af4e9a88"> 239</a></span>  <a class="code" href="classod_1_1_o_d_detection3_d.html#ab330a673a4fa2c352d29c5e1af4e9a88">ODDetection3D</a>(DetectionType <span class="keyword">const</span> &type_ = OD_DETECTION_NULL, std::string <span class="keyword">const</span> &id_ = <span class="stringliteral">""</span>, <span class="keywordtype">double</span> confidence_ = 1) : <a class="code" href="classod_1_1_o_d_detection.html">ODDetection</a>(type_, id_, confidence_)</div>
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  {</div>
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  <a class="code" href="classod_1_1_o_d_detection3_d.html#af1164f1af4cd025075d996c0f3903935">location_3d_</a> = Eigen::Vector4d::UnitW();</div>
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  <a class="code" href="classod_1_1_o_d_detection3_d.html#a1cbbaadd324878a9665290d6056eeb10">orientation_</a>.setIdentity();</div>
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  <a class="code" href="classod_1_1_o_d_detection3_d.html#a6d995a1d9e00bd164c9c3bf90159d01e">scale_</a> = 1;</div>
<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  }</div>
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span> </div>
<div class="line"><a name="l00246"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detection3_d.html#ae4b7598d749ed08cff618bd6a6a2b90d"> 246</a></span>  <span class="keywordtype">void</span> <a class="code" href="classod_1_1_o_d_detection3_d.html#ae4b7598d749ed08cff618bd6a6a2b90d">printSelf</a>()</div>
<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  {</div>
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  <a class="code" href="classod_1_1_o_d_detection.html#acfd71b2fe9fab56aad497bdfc61eb68a">ODDetection::printSelf</a>();</div>
<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  std::cout << <span class="stringliteral">"Location: "</span> << <a class="code" href="classod_1_1_o_d_detection3_d.html#af1164f1af4cd025075d996c0f3903935">location_3d_</a> << std::endl;</div>
<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  std::cout << <span class="stringliteral">"Pose: "</span> << <a class="code" href="classod_1_1_o_d_detection3_d.html#a1cbbaadd324878a9665290d6056eeb10">orientation_</a> << std::endl;</div>
<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  std::cout << <span class="stringliteral">"Scale: "</span> << <a class="code" href="classod_1_1_o_d_detection3_d.html#a6d995a1d9e00bd164c9c3bf90159d01e">scale_</a> << std::endl;</div>
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  }</div>
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span> </div>
<div class="line"><a name="l00254"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detection3_d.html#af1164f1af4cd025075d996c0f3903935"> 254</a></span>  Eigen::Vector4d <a class="code" href="classod_1_1_o_d_detection3_d.html#af1164f1af4cd025075d996c0f3903935">location_3d_</a>;</div>
<div class="line"><a name="l00255"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detection3_d.html#a1cbbaadd324878a9665290d6056eeb10"> 255</a></span>  Eigen::Matrix3Xd <a class="code" href="classod_1_1_o_d_detection3_d.html#a1cbbaadd324878a9665290d6056eeb10">orientation_</a>;</div>
<div class="line"><a name="l00256"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detection3_d.html#a6d995a1d9e00bd164c9c3bf90159d01e"> 256</a></span>  <span class="keywordtype">double</span> <a class="code" href="classod_1_1_o_d_detection3_d.html#a6d995a1d9e00bd164c9c3bf90159d01e">scale_</a>;</div>
<div class="line"><a name="l00257"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detection3_d.html#a3935efc552b4c04a17960cac43f04de9"> 257</a></span>  cv::Mat <a class="code" href="classod_1_1_o_d_detection3_d.html#a3935efc552b4c04a17960cac43f04de9">metainfo_image_</a>;</div>
<div class="line"><a name="l00258"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detection3_d.html#a75a43bd18af5a2adb284c653e49766e5"> 258</a></span>  <span class="keyword">typename</span> pcl::PointCloud<pcl::PointXYZ>::Ptr <a class="code" href="classod_1_1_o_d_detection3_d.html#a75a43bd18af5a2adb284c653e49766e5">metainfo_cluster_</a>;</div>
<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  };</div>
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span> <span class="comment"></span></div>
<div class="line"><a name="l00261"></a><span class="lineno"> 261</span> <span class="comment"> /** \brief Detection in 2D with complete information.</span></div>
<div class="line"><a name="l00262"></a><span class="lineno"> 262</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00263"></a><span class="lineno"> 263</span> <span class="comment"> * \author Kripasindhu Sarkar</span></div>
<div class="line"><a name="l00264"></a><span class="lineno"> 264</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00265"></a><span class="lineno"> 265</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00266"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detection_complete.html"> 266</a></span>  <span class="keyword">class </span><a class="code" href="classod_1_1_o_d_detection_complete.html">ODDetectionComplete</a>: <span class="keyword">public</span> <a class="code" href="classod_1_1_o_d_detection2_d.html">ODDetection2D</a>, <span class="keyword">public</span> <a class="code" href="classod_1_1_o_d_detection3_d.html">ODDetection3D</a></div>
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  {</div>
<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  };</div>
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span> <span class="comment"></span></div>
<div class="line"><a name="l00270"></a><span class="lineno"> 270</span> <span class="comment"> /** \brief The container class for ODDetection</span></div>
<div class="line"><a name="l00271"></a><span class="lineno"> 271</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00272"></a><span class="lineno"> 272</span> <span class="comment"> * \author Kripasindhu Sarkar</span></div>
<div class="line"><a name="l00273"></a><span class="lineno"> 273</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00274"></a><span class="lineno"> 274</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00275"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detections.html"> 275</a></span>  <span class="keyword">class </span><a class="code" href="classod_1_1_o_d_detections.html">ODDetections</a></div>
<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  {</div>
<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00278"></a><span class="lineno"> 278</span> </div>
<div class="line"><a name="l00279"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detections.html#adf82a664d3bafa944309400d21397535"> 279</a></span>  <a class="code" href="classod_1_1_o_d_detections.html#adf82a664d3bafa944309400d21397535">ODDetections</a> (<span class="keywordtype">int</span> n = 0): <a class="code" href="classod_1_1_o_d_detections.html#af36b7bd600ae6720b7e878efdc3c9d5d">detections_</a>(n)</div>
<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  {</div>
<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  }</div>
<div class="line"><a name="l00282"></a><span class="lineno"> 282</span> </div>
<div class="line"><a name="l00283"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detections.html#a398ed1f342e5941de16769f99f4447d5"> 283</a></span>  <span class="keyword">virtual</span> <a class="code" href="classod_1_1_o_d_detections.html#a398ed1f342e5941de16769f99f4447d5">~ODDetections</a>()</div>
<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  {</div>
<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < this-><a class="code" href="classod_1_1_o_d_detections.html#acecd430dee656213a2a19832dd7a47d6">size</a>(); i++)</div>
<div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  <span class="keyword">delete</span> <a class="code" href="classod_1_1_o_d_detections.html#af36b7bd600ae6720b7e878efdc3c9d5d">detections_</a>[i];</div>
<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  <a class="code" href="classod_1_1_o_d_detections.html#af36b7bd600ae6720b7e878efdc3c9d5d">detections_</a>.resize(0);</div>
<div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  }</div>
<div class="line"><a name="l00289"></a><span class="lineno"> 289</span> </div>
<div class="line"><a name="l00290"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detections.html#acecd430dee656213a2a19832dd7a47d6"> 290</a></span>  <span class="keywordtype">int</span> <a class="code" href="classod_1_1_o_d_detections.html#acecd430dee656213a2a19832dd7a47d6">size</a>() { <span class="keywordflow">return</span> <a class="code" href="classod_1_1_o_d_detections.html#af36b7bd600ae6720b7e878efdc3c9d5d">detections_</a>.size(); }</div>
<div class="line"><a name="l00291"></a><span class="lineno"> 291</span> </div>
<div class="line"><a name="l00292"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detections.html#a076cbfeb953d1e8c0fef206b076e9a41"> 292</a></span>  <span class="keywordtype">void</span> <a class="code" href="classod_1_1_o_d_detections.html#a076cbfeb953d1e8c0fef206b076e9a41">push_back</a>(<a class="code" href="classod_1_1_o_d_detection.html">ODDetection</a>* detection)</div>
<div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  {</div>
<div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  <a class="code" href="classod_1_1_o_d_detections.html#af36b7bd600ae6720b7e878efdc3c9d5d">detections_</a>.push_back(detection);</div>
<div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  }</div>
<div class="line"><a name="l00296"></a><span class="lineno"> 296</span> </div>
<div class="line"><a name="l00297"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detections.html#a794cd63355802db2faab51c7f65be884"> 297</a></span>  <span class="keywordtype">void</span> <a class="code" href="classod_1_1_o_d_detections.html#a794cd63355802db2faab51c7f65be884">append</a>(<a class="code" href="classod_1_1_o_d_detections.html">ODDetections</a>* detections)</div>
<div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  {</div>
<div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  <a class="code" href="classod_1_1_o_d_detections.html#af36b7bd600ae6720b7e878efdc3c9d5d">detections_</a>.insert(<a class="code" href="classod_1_1_o_d_detections.html#af36b7bd600ae6720b7e878efdc3c9d5d">detections_</a>.end(), detections-><a class="code" href="classod_1_1_o_d_detections.html#af36b7bd600ae6720b7e878efdc3c9d5d">detections_</a>.begin(), detections-><a class="code" href="classod_1_1_o_d_detections.html#af36b7bd600ae6720b7e878efdc3c9d5d">detections_</a>.end());</div>
<div class="line"><a name="l00300"></a><span class="lineno"> 300</span>  <span class="comment">//note the meta information of the appended detections are lost here.</span></div>
<div class="line"><a name="l00301"></a><span class="lineno"> 301</span>  }</div>
<div class="line"><a name="l00302"></a><span class="lineno"> 302</span> </div>
<div class="line"><a name="l00303"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detections.html#a2d309378dfa1a41d435ec010c548fc00"> 303</a></span>  <a class="code" href="classod_1_1_o_d_detection.html">ODDetection</a> * <a class="code" href="classod_1_1_o_d_detections.html#a2d309378dfa1a41d435ec010c548fc00">operator[]</a>(<span class="keywordtype">int</span> i) { <span class="keywordflow">return</span> <a class="code" href="classod_1_1_o_d_detections.html#af36b7bd600ae6720b7e878efdc3c9d5d">detections_</a>[i]; }</div>
<div class="line"><a name="l00304"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detections.html#a8768f8ed416b98864b9c86ca583a9a57"> 304</a></span>  <a class="code" href="classod_1_1_o_d_detection.html">ODDetection</a> * <a class="code" href="classod_1_1_o_d_detections.html#a8768f8ed416b98864b9c86ca583a9a57">at</a>(<span class="keywordtype">int</span> i) { <span class="keywordflow">return</span> (*<span class="keyword">this</span>)[i]; }</div>
<div class="line"><a name="l00305"></a><span class="lineno"> 305</span> </div>
<div class="line"><a name="l00306"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detections.html#acafb500a8f74a62c6d7fefc4a9dd4699"> 306</a></span>  cv::Mat <span class="keyword">const</span> &<a class="code" href="classod_1_1_o_d_detections.html#acafb500a8f74a62c6d7fefc4a9dd4699">getMetainfoImage</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00307"></a><span class="lineno"> 307</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  <span class="keywordflow">return</span> <a class="code" href="classod_1_1_o_d_detections.html#ab534054fc6bc260c69abebe79cade3e9">metainfo_image_</a>;</div>
<div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  }</div>
<div class="line"><a name="l00310"></a><span class="lineno"> 310</span> </div>
<div class="line"><a name="l00311"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detections.html#a662a5517560b21d984ce0d6600252996"> 311</a></span>  <span class="keywordtype">void</span> <a class="code" href="classod_1_1_o_d_detections.html#a662a5517560b21d984ce0d6600252996">setMetainfoImage</a>(cv::Mat <span class="keyword">const</span> &<a class="code" href="classod_1_1_o_d_detections.html#ab534054fc6bc260c69abebe79cade3e9">metainfo_image_</a>)</div>
<div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  {</div>
<div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  this->metainfo_image_ = metainfo_image_.clone();</div>
<div class="line"><a name="l00314"></a><span class="lineno"> 314</span>  }</div>
<div class="line"><a name="l00315"></a><span class="lineno"> 315</span> </div>
<div class="line"><a name="l00316"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detections.html#ab78618af428a90e00229b89af28f917d"> 316</a></span>  <span class="keyword">typename</span> pcl::PointCloud<pcl::PointXYZ>::Ptr <span class="keyword">const</span> &<a class="code" href="classod_1_1_o_d_detections.html#ab78618af428a90e00229b89af28f917d">getMetainfoCluster</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00317"></a><span class="lineno"> 317</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00318"></a><span class="lineno"> 318</span>  <span class="keywordflow">return</span> <a class="code" href="classod_1_1_o_d_detections.html#a21696a3ca203ddfb5f813e6964cc5eac">metainfo_cluster_</a>;</div>
<div class="line"><a name="l00319"></a><span class="lineno"> 319</span>  }</div>
<div class="line"><a name="l00320"></a><span class="lineno"> 320</span> </div>
<div class="line"><a name="l00321"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detections.html#aa261469aaba1ed8232b0afe1e375219c"> 321</a></span>  <span class="keywordtype">void</span> <a class="code" href="classod_1_1_o_d_detections.html#aa261469aaba1ed8232b0afe1e375219c">setMetainfoCluster</a>(<span class="keyword">typename</span> pcl::PointCloud<pcl::PointXYZ>::Ptr <span class="keyword">const</span> &<a class="code" href="classod_1_1_o_d_detections.html#a21696a3ca203ddfb5f813e6964cc5eac">metainfo_cluster_</a>)</div>
<div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  {</div>
<div class="line"><a name="l00323"></a><span class="lineno"> 323</span>  this->metainfo_cluster_ = <a class="code" href="classod_1_1_o_d_detections.html#a21696a3ca203ddfb5f813e6964cc5eac">metainfo_cluster_</a>;</div>
<div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  }</div>
<div class="line"><a name="l00325"></a><span class="lineno"> 325</span> </div>
<div class="line"><a name="l00326"></a><span class="lineno"> 326</span>  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00327"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detections.html#af36b7bd600ae6720b7e878efdc3c9d5d"> 327</a></span>  std::vector<ODDetection*> <a class="code" href="classod_1_1_o_d_detections.html#af36b7bd600ae6720b7e878efdc3c9d5d">detections_</a>;</div>
<div class="line"><a name="l00328"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detections.html#ab534054fc6bc260c69abebe79cade3e9"> 328</a></span>  cv::Mat <a class="code" href="classod_1_1_o_d_detections.html#ab534054fc6bc260c69abebe79cade3e9">metainfo_image_</a>;</div>
<div class="line"><a name="l00329"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detections.html#a21696a3ca203ddfb5f813e6964cc5eac"> 329</a></span>  <span class="keyword">typename</span> pcl::PointCloud<pcl::PointXYZ>::Ptr <a class="code" href="classod_1_1_o_d_detections.html#a21696a3ca203ddfb5f813e6964cc5eac">metainfo_cluster_</a>;</div>
<div class="line"><a name="l00330"></a><span class="lineno"> 330</span>  };</div>
<div class="line"><a name="l00331"></a><span class="lineno"> 331</span> </div>
<div class="line"><a name="l00332"></a><span class="lineno"> 332</span> </div>
<div class="line"><a name="l00333"></a><span class="lineno"> 333</span> </div>
<div class="line"><a name="l00334"></a><span class="lineno"> 334</span> <span class="comment"></span></div>
<div class="line"><a name="l00335"></a><span class="lineno"> 335</span> <span class="comment">/** \brief The container class for ODDetection2D returned by ODDetector2D</span></div>
<div class="line"><a name="l00336"></a><span class="lineno"> 336</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00337"></a><span class="lineno"> 337</span> <span class="comment"> * \author Kripasindhu Sarkar</span></div>
<div class="line"><a name="l00338"></a><span class="lineno"> 338</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00339"></a><span class="lineno"> 339</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00340"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detections2_d.html"> 340</a></span>  <span class="keyword">class </span><a class="code" href="classod_1_1_o_d_detections2_d.html">ODDetections2D</a>: <span class="keyword">public</span> <a class="code" href="classod_1_1_o_d_detections.html">ODDetections</a></div>
<div class="line"><a name="l00341"></a><span class="lineno"> 341</span>  {</div>
<div class="line"><a name="l00342"></a><span class="lineno"> 342</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00343"></a><span class="lineno"> 343</span> <span class="comment"></span></div>
<div class="line"><a name="l00344"></a><span class="lineno"> 344</span> <span class="comment"> /** \brief Draws rectangles over the input image using the bounding box information present in all the 2D detections. This is a quick function to render and verify the detections made.</span></div>
<div class="line"><a name="l00345"></a><span class="lineno"> 345</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00346"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detections2_d.html#a3297fb185a951414197e1db893a4cdaf"> 346</a></span>  <a class="code" href="classod_1_1_o_d_scene_image.html">ODSceneImage</a> <a class="code" href="classod_1_1_o_d_detections2_d.html#a3297fb185a951414197e1db893a4cdaf">renderMetainfo</a>(<a class="code" href="classod_1_1_o_d_scene_image.html">ODSceneImage</a> input)</div>
<div class="line"><a name="l00347"></a><span class="lineno"> 347</span>  {</div>
<div class="line"><a name="l00348"></a><span class="lineno"> 348</span> </div>
<div class="line"><a name="l00349"></a><span class="lineno"> 349</span>  <span class="comment">//picking up random colors for different detection algorithm, if exist</span></div>
<div class="line"><a name="l00350"></a><span class="lineno"> 350</span>  <span class="comment">/*std::map<std::string, cv::Scalar> color_map;</span></div>
<div class="line"><a name="l00351"></a><span class="lineno"> 351</span> <span class="comment"> for(int i = 0; i < detections_.size(); i++)</span></div>
<div class="line"><a name="l00352"></a><span class="lineno"> 352</span> <span class="comment"> {</span></div>
<div class="line"><a name="l00353"></a><span class="lineno"> 353</span> <span class="comment"> if(color_map.find(detections_[i]->getId()) == color_map.end())</span></div>
<div class="line"><a name="l00354"></a><span class="lineno"> 354</span> <span class="comment"> color_map[detections_[i]->getId()] = CV_RGB(rand()%255, rand()%255, rand()%255);</span></div>
<div class="line"><a name="l00355"></a><span class="lineno"> 355</span> <span class="comment"> }*/</span></div>
<div class="line"><a name="l00356"></a><span class="lineno"> 356</span> </div>
<div class="line"><a name="l00357"></a><span class="lineno"> 357</span>  cv::Mat image = input.<a class="code" href="classod_1_1_o_d_scene_image.html#aa612c7d253de19c5e168b5f4c64e71b8">getCVImage</a>().clone();</div>
<div class="line"><a name="l00358"></a><span class="lineno"> 358</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i < <a class="code" href="classod_1_1_o_d_detections.html#af36b7bd600ae6720b7e878efdc3c9d5d">detections_</a>.size(); i++)</div>
<div class="line"><a name="l00359"></a><span class="lineno"> 359</span>  {</div>
<div class="line"><a name="l00360"></a><span class="lineno"> 360</span>  <a class="code" href="classod_1_1_o_d_detection2_d.html">ODDetection2D</a> * detection = <span class="keyword">dynamic_cast<</span><a class="code" href="classod_1_1_o_d_detection2_d.html">ODDetection2D</a> *<span class="keyword">></span>(<a class="code" href="classod_1_1_o_d_detections.html#af36b7bd600ae6720b7e878efdc3c9d5d">detections_</a>[i]);</div>
<div class="line"><a name="l00361"></a><span class="lineno"> 361</span>  cv::rectangle(image, detection-><a class="code" href="classod_1_1_o_d_detection2_d.html#ac1df4e024861973948934937e64d99e2">bounding_box_2d_</a>, <a class="code" href="namespaceod.html#a85f3eabcbab94bca457a6ebfa50813a0">getHashedColor</a>(<a class="code" href="classod_1_1_o_d_detections.html#af36b7bd600ae6720b7e878efdc3c9d5d">detections_</a>[i]->getId(), 100), 2);</div>
<div class="line"><a name="l00362"></a><span class="lineno"> 362</span>  }</div>
<div class="line"><a name="l00363"></a><span class="lineno"> 363</span>  <span class="keywordflow">return</span> <a class="code" href="classod_1_1_o_d_scene_image.html">ODSceneImage</a>(image);</div>
<div class="line"><a name="l00364"></a><span class="lineno"> 364</span>  }</div>
<div class="line"><a name="l00365"></a><span class="lineno"> 365</span> </div>
<div class="line"><a name="l00366"></a><span class="lineno"> 366</span> </div>
<div class="line"><a name="l00367"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detections2_d.html#a4ae2654336faa9898ea1b652b89411b0"> 367</a></span>  <a class="code" href="classod_1_1_o_d_detection2_d.html">ODDetection2D</a> * <a class="code" href="classod_1_1_o_d_detections2_d.html#a4ae2654336faa9898ea1b652b89411b0">operator[]</a>(<span class="keywordtype">int</span> i) { <span class="keywordflow">return</span> <span class="keyword">dynamic_cast<</span><a class="code" href="classod_1_1_o_d_detection2_d.html">ODDetection2D</a> *<span class="keyword">></span>(<a class="code" href="classod_1_1_o_d_detections.html#af36b7bd600ae6720b7e878efdc3c9d5d">detections_</a>[i]); }</div>
<div class="line"><a name="l00368"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detections2_d.html#aaa9d97471cceea7c94d89c48c460cab4"> 368</a></span>  <a class="code" href="classod_1_1_o_d_detection2_d.html">ODDetection2D</a> * <a class="code" href="classod_1_1_o_d_detections2_d.html#aaa9d97471cceea7c94d89c48c460cab4">at</a>(<span class="keywordtype">int</span> i) { <span class="keywordflow">return</span> <span class="keyword">dynamic_cast<</span><a class="code" href="classod_1_1_o_d_detection2_d.html">ODDetection2D</a> *<span class="keyword">></span>(<a class="code" href="classod_1_1_o_d_detections.html#af36b7bd600ae6720b7e878efdc3c9d5d">detections_</a>[i]); }</div>
<div class="line"><a name="l00369"></a><span class="lineno"> 369</span> </div>
<div class="line"><a name="l00370"></a><span class="lineno"> 370</span>  };</div>
<div class="line"><a name="l00371"></a><span class="lineno"> 371</span> <span class="comment"></span></div>
<div class="line"><a name="l00372"></a><span class="lineno"> 372</span> <span class="comment"> /** \brief The container class for ODDetection3D returned by ODDetector3D</span></div>
<div class="line"><a name="l00373"></a><span class="lineno"> 373</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00374"></a><span class="lineno"> 374</span> <span class="comment"> * \author Kripasindhu Sarkar</span></div>
<div class="line"><a name="l00375"></a><span class="lineno"> 375</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00376"></a><span class="lineno"> 376</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00377"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detections3_d.html"> 377</a></span>  <span class="keyword">class </span><a class="code" href="classod_1_1_o_d_detections3_d.html">ODDetections3D</a>: <span class="keyword">public</span> <a class="code" href="classod_1_1_o_d_detections.html">ODDetections</a></div>
<div class="line"><a name="l00378"></a><span class="lineno"> 378</span>  {</div>
<div class="line"><a name="l00379"></a><span class="lineno"> 379</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00380"></a><span class="lineno"> 380</span> </div>
<div class="line"><a name="l00381"></a><span class="lineno"> 381</span>  <span class="comment">/*ODSceneImage renderMetainfo(ODSceneImage input)</span></div>
<div class="line"><a name="l00382"></a><span class="lineno"> 382</span> <span class="comment"> {</span></div>
<div class="line"><a name="l00383"></a><span class="lineno"> 383</span> <span class="comment"> //picking up random colors for different detection algorithm, if exist</span></div>
<div class="line"><a name="l00384"></a><span class="lineno"> 384</span> <span class="comment"> std::map<std::string, cv::Scalar> color_map;</span></div>
<div class="line"><a name="l00385"></a><span class="lineno"> 385</span> <span class="comment"> for(int i = 0; i < detections_.size(); i++)</span></div>
<div class="line"><a name="l00386"></a><span class="lineno"> 386</span> <span class="comment"> {</span></div>
<div class="line"><a name="l00387"></a><span class="lineno"> 387</span> <span class="comment"> if(color_map.find(detections_[i]->getId()) == color_map.end())</span></div>
<div class="line"><a name="l00388"></a><span class="lineno"> 388</span> <span class="comment"> color_map[detections_[i]->getId()] = CV_RGB(rand()%255, rand()%255, rand()%255);</span></div>
<div class="line"><a name="l00389"></a><span class="lineno"> 389</span> <span class="comment"> }</span></div>
<div class="line"><a name="l00390"></a><span class="lineno"> 390</span> <span class="comment"></span></div>
<div class="line"><a name="l00391"></a><span class="lineno"> 391</span> <span class="comment"> cv::Mat image = input.getCVImage().clone();</span></div>
<div class="line"><a name="l00392"></a><span class="lineno"> 392</span> <span class="comment"> for(int i = 0; i < detections_.size(); i++)</span></div>
<div class="line"><a name="l00393"></a><span class="lineno"> 393</span> <span class="comment"> {</span></div>
<div class="line"><a name="l00394"></a><span class="lineno"> 394</span> <span class="comment"> ODDetections3D * detection = dynamic_cast<ODDetections3D *>(detections_[i]);</span></div>
<div class="line"><a name="l00395"></a><span class="lineno"> 395</span> <span class="comment"> cv::rectangle(image, detection->bounding_box_2d_, color_map[detections_[i]->getId()], 2);</span></div>
<div class="line"><a name="l00396"></a><span class="lineno"> 396</span> <span class="comment"> }</span></div>
<div class="line"><a name="l00397"></a><span class="lineno"> 397</span> <span class="comment"> return ODSceneImage(image);</span></div>
<div class="line"><a name="l00398"></a><span class="lineno"> 398</span> <span class="comment"> }*/</span></div>
<div class="line"><a name="l00399"></a><span class="lineno"> 399</span> </div>
<div class="line"><a name="l00400"></a><span class="lineno"> 400</span> </div>
<div class="line"><a name="l00401"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detections3_d.html#aefc52dd671ea278d38ba6492898753a5"> 401</a></span>  <a class="code" href="classod_1_1_o_d_detection3_d.html">ODDetection3D</a> * <a class="code" href="classod_1_1_o_d_detections3_d.html#aefc52dd671ea278d38ba6492898753a5">operator[]</a>(<span class="keywordtype">int</span> i) { <span class="keywordflow">return</span> <span class="keyword">dynamic_cast<</span><a class="code" href="classod_1_1_o_d_detection3_d.html">ODDetection3D</a> *<span class="keyword">></span>(<a class="code" href="classod_1_1_o_d_detections.html#af36b7bd600ae6720b7e878efdc3c9d5d">detections_</a>[i]); }</div>
<div class="line"><a name="l00402"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detections3_d.html#a3bd9e1a91e72bde623a2a6b45971fd05"> 402</a></span>  <a class="code" href="classod_1_1_o_d_detection3_d.html">ODDetection3D</a> * <a class="code" href="classod_1_1_o_d_detections3_d.html#a3bd9e1a91e72bde623a2a6b45971fd05">at</a>(<span class="keywordtype">int</span> i) { <span class="keywordflow">return</span> <span class="keyword">dynamic_cast<</span><a class="code" href="classod_1_1_o_d_detection3_d.html">ODDetection3D</a> *<span class="keyword">></span>(<a class="code" href="classod_1_1_o_d_detections.html#af36b7bd600ae6720b7e878efdc3c9d5d">detections_</a>[i]); }</div>
<div class="line"><a name="l00403"></a><span class="lineno"> 403</span>  };</div>
<div class="line"><a name="l00404"></a><span class="lineno"> 404</span> <span class="comment"></span></div>
<div class="line"><a name="l00405"></a><span class="lineno"> 405</span> <span class="comment"> /** \brief The container class for ODDetectionComplete returned by ODDetector2DComplete</span></div>
<div class="line"><a name="l00406"></a><span class="lineno"> 406</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00407"></a><span class="lineno"> 407</span> <span class="comment"> * \author Kripasindhu Sarkar</span></div>
<div class="line"><a name="l00408"></a><span class="lineno"> 408</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00409"></a><span class="lineno"> 409</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00410"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detections_complete.html"> 410</a></span>  <span class="keyword">class </span><a class="code" href="classod_1_1_o_d_detections_complete.html">ODDetectionsComplete</a>: <span class="keyword">public</span> <a class="code" href="classod_1_1_o_d_detections.html">ODDetections</a></div>
<div class="line"><a name="l00411"></a><span class="lineno"> 411</span>  {</div>
<div class="line"><a name="l00412"></a><span class="lineno"> 412</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00413"></a><span class="lineno"> 413</span> </div>
<div class="line"><a name="l00414"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detections_complete.html#a72db5adca05bdcc242712cfc800b9f97"> 414</a></span>  <a class="code" href="classod_1_1_o_d_detection_complete.html">ODDetectionComplete</a> * <a class="code" href="classod_1_1_o_d_detections_complete.html#a72db5adca05bdcc242712cfc800b9f97">operator[]</a>(<span class="keywordtype">int</span> i) { <span class="keywordflow">return</span> <span class="keyword">dynamic_cast<</span><a class="code" href="classod_1_1_o_d_detection_complete.html">ODDetectionComplete</a> *<span class="keyword">></span>(<a class="code" href="classod_1_1_o_d_detections.html#af36b7bd600ae6720b7e878efdc3c9d5d">detections_</a>[i]); }</div>
<div class="line"><a name="l00415"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detections_complete.html#a86a890cb7a36c0d1f2a96d9c7a7a74af"> 415</a></span>  <a class="code" href="classod_1_1_o_d_detection_complete.html">ODDetectionComplete</a> * <a class="code" href="classod_1_1_o_d_detections_complete.html#a86a890cb7a36c0d1f2a96d9c7a7a74af">at</a>(<span class="keywordtype">int</span> i) { <span class="keywordflow">return</span> dynamic_cast <<a class="code" href="classod_1_1_o_d_detection_complete.html">ODDetectionComplete</a> *>(<a class="code" href="classod_1_1_o_d_detections.html#af36b7bd600ae6720b7e878efdc3c9d5d">detections_</a>[i]); }</div>
<div class="line"><a name="l00416"></a><span class="lineno"> 416</span>  };</div>
<div class="line"><a name="l00417"></a><span class="lineno"> 417</span> </div>
<div class="line"><a name="l00418"></a><span class="lineno"> 418</span> }</div>
<div class="line"><a name="l00419"></a><span class="lineno"> 419</span> <span class="preprocessor">#endif //OPENDETECTION_ODDETECTION_H</span></div>
<div class="ttc" id="classod_1_1_o_d_detection2_d_html_a9bd0b4802081c3029036f2db68a43446"><div class="ttname"><a href="classod_1_1_o_d_detection2_d.html#a9bd0b4802081c3029036f2db68a43446">od::ODDetection2D::location_2d_</a></div><div class="ttdeci">Eigen::Vector3d location_2d_</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00165">ODDetection.h:165</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detections_html_a21696a3ca203ddfb5f813e6964cc5eac"><div class="ttname"><a href="classod_1_1_o_d_detections.html#a21696a3ca203ddfb5f813e6964cc5eac">od::ODDetections::metainfo_cluster_</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZ >::Ptr metainfo_cluster_</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00329">ODDetection.h:329</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detection3_d_html_a1d79cfa44c06a66f68d9886559bbddc3"><div class="ttname"><a href="classod_1_1_o_d_detection3_d.html#a1d79cfa44c06a66f68d9886559bbddc3">od::ODDetection3D::getPose</a></div><div class="ttdeci">Eigen::Matrix3Xd const & getPose() const </div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00195">ODDetection.h:195</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detection3_d_html_aa7d54677b81ae52a05f3794a028c08a7"><div class="ttname"><a href="classod_1_1_o_d_detection3_d.html#aa7d54677b81ae52a05f3794a028c08a7">od::ODDetection3D::setScale</a></div><div class="ttdeci">void setScale(double scale)</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00214">ODDetection.h:214</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detection3_d_html_a6d995a1d9e00bd164c9c3bf90159d01e"><div class="ttname"><a href="classod_1_1_o_d_detection3_d.html#a6d995a1d9e00bd164c9c3bf90159d01e">od::ODDetection3D::scale_</a></div><div class="ttdeci">double scale_</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00256">ODDetection.h:256</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detections_html_ab534054fc6bc260c69abebe79cade3e9"><div class="ttname"><a href="classod_1_1_o_d_detections.html#ab534054fc6bc260c69abebe79cade3e9">od::ODDetections::metainfo_image_</a></div><div class="ttdeci">cv::Mat metainfo_image_</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00328">ODDetection.h:328</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detection2_d_html_aae3c12f952016859e739c80010b7f4ea"><div class="ttname"><a href="classod_1_1_o_d_detection2_d.html#aae3c12f952016859e739c80010b7f4ea">od::ODDetection2D::setLocation</a></div><div class="ttdeci">void setLocation(Eigen::Vector3d const &location_)</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00139">ODDetection.h:139</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detection_html_a977b9bce7e5b9455bc14149222de04f6"><div class="ttname"><a href="classod_1_1_o_d_detection.html#a977b9bce7e5b9455bc14149222de04f6">od::ODDetection::setId</a></div><div class="ttdeci">void setId(std::string const &id_)</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00091">ODDetection.h:91</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detections_html_af36b7bd600ae6720b7e878efdc3c9d5d"><div class="ttname"><a href="classod_1_1_o_d_detections.html#af36b7bd600ae6720b7e878efdc3c9d5d">od::ODDetections::detections_</a></div><div class="ttdeci">std::vector< ODDetection * > detections_</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00327">ODDetection.h:327</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detections_html_a2d309378dfa1a41d435ec010c548fc00"><div class="ttname"><a href="classod_1_1_o_d_detections.html#a2d309378dfa1a41d435ec010c548fc00">od::ODDetections::operator[]</a></div><div class="ttdeci">ODDetection * operator[](int i)</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00303">ODDetection.h:303</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detection3_d_html_a0ecb4091a4b561035c4dae850784d9ac"><div class="ttname"><a href="classod_1_1_o_d_detection3_d.html#a0ecb4091a4b561035c4dae850784d9ac">od::ODDetection3D::setLocation</a></div><div class="ttdeci">void setLocation(cv::Mat const &location_)</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00190">ODDetection.h:190</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detection3_d_html_af1164f1af4cd025075d996c0f3903935"><div class="ttname"><a href="classod_1_1_o_d_detection3_d.html#af1164f1af4cd025075d996c0f3903935">od::ODDetection3D::location_3d_</a></div><div class="ttdeci">Eigen::Vector4d location_3d_</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00254">ODDetection.h:254</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detection2_d_html_afe9fbb7f79c7141954a0e765136e8456"><div class="ttname"><a href="classod_1_1_o_d_detection2_d.html#afe9fbb7f79c7141954a0e765136e8456">od::ODDetection2D::setBoundingBox</a></div><div class="ttdeci">void setBoundingBox(cv::Rect const &bounding_box_)</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00149">ODDetection.h:149</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detection3_d_html_a2c0ae709f7e63523b39e7d009563d1b4"><div class="ttname"><a href="classod_1_1_o_d_detection3_d.html#a2c0ae709f7e63523b39e7d009563d1b4">od::ODDetection3D::setMetainfoCluster</a></div><div class="ttdeci">void setMetainfoCluster(typename pcl::PointCloud< pcl::PointXYZ >::Ptr const &metainfo_cluster_)</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00234">ODDetection.h:234</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detection3_d_html_a51098770f6672412897a188150203cfc"><div class="ttname"><a href="classod_1_1_o_d_detection3_d.html#a51098770f6672412897a188150203cfc">od::ODDetection3D::~ODDetection3D</a></div><div class="ttdeci">virtual ~ODDetection3D()</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00178">ODDetection.h:178</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detection3_d_html_a75a43bd18af5a2adb284c653e49766e5"><div class="ttname"><a href="classod_1_1_o_d_detection3_d.html#a75a43bd18af5a2adb284c653e49766e5">od::ODDetection3D::metainfo_cluster_</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZ >::Ptr metainfo_cluster_</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00258">ODDetection.h:258</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detection3_d_html_ad64267894262d410c7bc99adf88af188"><div class="ttname"><a href="classod_1_1_o_d_detection3_d.html#ad64267894262d410c7bc99adf88af188">od::ODDetection3D::getScale</a></div><div class="ttdeci">double getScale() const </div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00209">ODDetection.h:209</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detection2_d_html_a7b4741f402b30faec48261b755acd6a1"><div class="ttname"><a href="classod_1_1_o_d_detection2_d.html#a7b4741f402b30faec48261b755acd6a1">od::ODDetection2D::getLocation</a></div><div class="ttdeci">Eigen::Vector3d const & getLocation() const </div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00134">ODDetection.h:134</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detection3_d_html_afc1af0d12ababd51eb3f9e4ae9cde53f"><div class="ttname"><a href="classod_1_1_o_d_detection3_d.html#afc1af0d12ababd51eb3f9e4ae9cde53f">od::ODDetection3D::getMetainfoCluster</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZ >::Ptr const & getMetainfoCluster() const </div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00229">ODDetection.h:229</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detections_html_ab78618af428a90e00229b89af28f917d"><div class="ttname"><a href="classod_1_1_o_d_detections.html#ab78618af428a90e00229b89af28f917d">od::ODDetections::getMetainfoCluster</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZ >::Ptr const & getMetainfoCluster() const </div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00316">ODDetection.h:316</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detection2_d_html_aba849b3987d05e04c1678611ea7afd45"><div class="ttname"><a href="classod_1_1_o_d_detection2_d.html#aba849b3987d05e04c1678611ea7afd45">od::ODDetection2D::getBoundingBox</a></div><div class="ttdeci">cv::Rect const & getBoundingBox() const </div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00144">ODDetection.h:144</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detection3_d_html_a91a00e631f4824daf9aef725a3eb3619"><div class="ttname"><a href="classod_1_1_o_d_detection3_d.html#a91a00e631f4824daf9aef725a3eb3619">od::ODDetection3D::getLocation</a></div><div class="ttdeci">Eigen::Vector4d const & getLocation() const </div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00181">ODDetection.h:181</a></div></div>
<div class="ttc" id="namespaceod_html_a85f3eabcbab94bca457a6ebfa50813a0"><div class="ttname"><a href="namespaceod.html#a85f3eabcbab94bca457a6ebfa50813a0">od::getHashedColor</a></div><div class="ttdeci">cv::Scalar getHashedColor(std::string name, int constadd)</div></div>
<div class="ttc" id="classod_1_1_o_d_detection_html_acfd71b2fe9fab56aad497bdfc61eb68a"><div class="ttname"><a href="classod_1_1_o_d_detection.html#acfd71b2fe9fab56aad497bdfc61eb68a">od::ODDetection::printSelf</a></div><div class="ttdeci">void printSelf()</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00070">ODDetection.h:70</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detection_html_a4e8ca53ab1c77d431fb5b540dd51dac7"><div class="ttname"><a href="classod_1_1_o_d_detection.html#a4e8ca53ab1c77d431fb5b540dd51dac7">od::ODDetection::getId</a></div><div class="ttdeci">std::string const & getId() const </div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00086">ODDetection.h:86</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detections_html_a076cbfeb953d1e8c0fef206b076e9a41"><div class="ttname"><a href="classod_1_1_o_d_detections.html#a076cbfeb953d1e8c0fef206b076e9a41">od::ODDetections::push_back</a></div><div class="ttdeci">void push_back(ODDetection *detection)</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00292">ODDetection.h:292</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detection3_d_html_a4acd86720cd4806e55fe006b019474bf"><div class="ttname"><a href="classod_1_1_o_d_detection3_d.html#a4acd86720cd4806e55fe006b019474bf">od::ODDetection3D::setPose</a></div><div class="ttdeci">void setPose(Eigen::Matrix3Xd const &pose_)</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00200">ODDetection.h:200</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detection3_d_html_ab330a673a4fa2c352d29c5e1af4e9a88"><div class="ttname"><a href="classod_1_1_o_d_detection3_d.html#ab330a673a4fa2c352d29c5e1af4e9a88">od::ODDetection3D::ODDetection3D</a></div><div class="ttdeci">ODDetection3D(DetectionType const &type_=OD_DETECTION_NULL, std::string const &id_="", double confidence_=1)</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00239">ODDetection.h:239</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detections_html_a662a5517560b21d984ce0d6600252996"><div class="ttname"><a href="classod_1_1_o_d_detections.html#a662a5517560b21d984ce0d6600252996">od::ODDetections::setMetainfoImage</a></div><div class="ttdeci">void setMetainfoImage(cv::Mat const &metainfo_image_)</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00311">ODDetection.h:311</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detection3_d_html_a59eea6dd5881598d5332630bc3a1b132"><div class="ttname"><a href="classod_1_1_o_d_detection3_d.html#a59eea6dd5881598d5332630bc3a1b132">od::ODDetection3D::setPose</a></div><div class="ttdeci">void setPose(cv::Mat const &pose_cv)</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00204">ODDetection.h:204</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detection2_d_html_a323accd6c16f26265718d4d0e237bd54"><div class="ttname"><a href="classod_1_1_o_d_detection2_d.html#a323accd6c16f26265718d4d0e237bd54">od::ODDetection2D::metainfo_image_</a></div><div class="ttdeci">cv::Mat metainfo_image_</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00167">ODDetection.h:167</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detection_html_af0f7b97e7d913be014e8da96fa2a9ff3"><div class="ttname"><a href="classod_1_1_o_d_detection.html#af0f7b97e7d913be014e8da96fa2a9ff3">od::ODDetection::getConfidence</a></div><div class="ttdeci">double getConfidence() const </div><div class="ttdoc">Get/Set the confidence of the detection. </div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00099">ODDetection.h:99</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detection_html"><div class="ttname"><a href="classod_1_1_o_d_detection.html">od::ODDetection</a></div><div class="ttdoc">The base class of all the detection. </div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00056">ODDetection.h:56</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detection2_d_html_a8843233aa3db9416e5a3b303daa2111f"><div class="ttname"><a href="classod_1_1_o_d_detection2_d.html#a8843233aa3db9416e5a3b303daa2111f">od::ODDetection2D::~ODDetection2D</a></div><div class="ttdeci">virtual ~ODDetection2D()</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00126">ODDetection.h:126</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detections3_d_html_aefc52dd671ea278d38ba6492898753a5"><div class="ttname"><a href="classod_1_1_o_d_detections3_d.html#aefc52dd671ea278d38ba6492898753a5">od::ODDetections3D::operator[]</a></div><div class="ttdeci">ODDetection3D * operator[](int i)</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00401">ODDetection.h:401</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detection2_d_html_a2a3256516a6fb07f8497b7e89372ab38"><div class="ttname"><a href="classod_1_1_o_d_detection2_d.html#a2a3256516a6fb07f8497b7e89372ab38">od::ODDetection2D::ODDetection2D</a></div><div class="ttdeci">ODDetection2D(DetectionType const &type_=OD_DETECTION_NULL, std::string const &id_="", double confidence_=1)</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00129">ODDetection.h:129</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detection3_d_html_ab9aa58caf5195e03d45f70fa4c698853"><div class="ttname"><a href="classod_1_1_o_d_detection3_d.html#ab9aa58caf5195e03d45f70fa4c698853">od::ODDetection3D::setLocation</a></div><div class="ttdeci">void setLocation(Eigen::Vector4d const &location_)</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00186">ODDetection.h:186</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detection_complete_html"><div class="ttname"><a href="classod_1_1_o_d_detection_complete.html">od::ODDetectionComplete</a></div><div class="ttdoc">Detection in 2D with complete information. </div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00266">ODDetection.h:266</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detections_complete_html"><div class="ttname"><a href="classod_1_1_o_d_detections_complete.html">od::ODDetectionsComplete</a></div><div class="ttdoc">The container class for ODDetectionComplete returned by ODDetector2DComplete. </div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00410">ODDetection.h:410</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detection_html_a2720d5bfd92a66b65d3f8f359ac8825f"><div class="ttname"><a href="classod_1_1_o_d_detection.html#a2720d5bfd92a66b65d3f8f359ac8825f">od::ODDetection::OD_DEFINE_ENUM_WITH_STRING_CONVERSIONS</a></div><div class="ttdeci">OD_DEFINE_ENUM_WITH_STRING_CONVERSIONS(DetectionType,(OD_DETECTION_RECOG)(OD_DETECTION_CLASS)(OD_DETECTION_NULL)) virtual ~ODDetection()</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00061">ODDetection.h:61</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detections_html_a794cd63355802db2faab51c7f65be884"><div class="ttname"><a href="classod_1_1_o_d_detections.html#a794cd63355802db2faab51c7f65be884">od::ODDetections::append</a></div><div class="ttdeci">void append(ODDetections *detections)</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00297">ODDetection.h:297</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detections2_d_html_a4ae2654336faa9898ea1b652b89411b0"><div class="ttname"><a href="classod_1_1_o_d_detections2_d.html#a4ae2654336faa9898ea1b652b89411b0">od::ODDetections2D::operator[]</a></div><div class="ttdeci">ODDetection2D * operator[](int i)</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00367">ODDetection.h:367</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detection_html_a6f0a83cec96dbf29491807cb59ad2ea1"><div class="ttname"><a href="classod_1_1_o_d_detection.html#a6f0a83cec96dbf29491807cb59ad2ea1">od::ODDetection::setConfidence</a></div><div class="ttdeci">void setConfidence(double confidence_)</div><div class="ttdoc">Get/Set the confidence of the detection. </div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00106">ODDetection.h:106</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detections_complete_html_a86a890cb7a36c0d1f2a96d9c7a7a74af"><div class="ttname"><a href="classod_1_1_o_d_detections_complete.html#a86a890cb7a36c0d1f2a96d9c7a7a74af">od::ODDetectionsComplete::at</a></div><div class="ttdeci">ODDetectionComplete * at(int i)</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00415">ODDetection.h:415</a></div></div>
<div class="ttc" id="classod_1_1_o_d_scene_image_html"><div class="ttname"><a href="classod_1_1_o_d_scene_image.html">od::ODSceneImage</a></div><div class="ttdoc">Class for Image Scene. </div><div class="ttdef"><b>Definition:</b> <a href="_o_d_scene_8h_source.html#l00069">ODScene.h:69</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detection3_d_html_a3935efc552b4c04a17960cac43f04de9"><div class="ttname"><a href="classod_1_1_o_d_detection3_d.html#a3935efc552b4c04a17960cac43f04de9">od::ODDetection3D::metainfo_image_</a></div><div class="ttdeci">cv::Mat metainfo_image_</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00257">ODDetection.h:257</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detections_html_acecd430dee656213a2a19832dd7a47d6"><div class="ttname"><a href="classod_1_1_o_d_detections.html#acecd430dee656213a2a19832dd7a47d6">od::ODDetections::size</a></div><div class="ttdeci">int size()</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00290">ODDetection.h:290</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detections_html_a398ed1f342e5941de16769f99f4447d5"><div class="ttname"><a href="classod_1_1_o_d_detections.html#a398ed1f342e5941de16769f99f4447d5">od::ODDetections::~ODDetections</a></div><div class="ttdeci">virtual ~ODDetections()</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00283">ODDetection.h:283</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detection2_d_html_aa055b1e09beb6298a1725bc71bcac352"><div class="ttname"><a href="classod_1_1_o_d_detection2_d.html#aa055b1e09beb6298a1725bc71bcac352">od::ODDetection2D::getMetainfoImage</a></div><div class="ttdeci">cv::Mat const & getMetainfoImage() const </div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00154">ODDetection.h:154</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detection3_d_html_a9f35b939f0d04d3afed2e361724233e5"><div class="ttname"><a href="classod_1_1_o_d_detection3_d.html#a9f35b939f0d04d3afed2e361724233e5">od::ODDetection3D::getMetainfoImage</a></div><div class="ttdeci">cv::Mat const & getMetainfoImage() const </div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00219">ODDetection.h:219</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detections_html_aa261469aaba1ed8232b0afe1e375219c"><div class="ttname"><a href="classod_1_1_o_d_detections.html#aa261469aaba1ed8232b0afe1e375219c">od::ODDetections::setMetainfoCluster</a></div><div class="ttdeci">void setMetainfoCluster(typename pcl::PointCloud< pcl::PointXYZ >::Ptr const &metainfo_cluster_)</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00321">ODDetection.h:321</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detections_complete_html_a72db5adca05bdcc242712cfc800b9f97"><div class="ttname"><a href="classod_1_1_o_d_detections_complete.html#a72db5adca05bdcc242712cfc800b9f97">od::ODDetectionsComplete::operator[]</a></div><div class="ttdeci">ODDetectionComplete * operator[](int i)</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00414">ODDetection.h:414</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detection3_d_html"><div class="ttname"><a href="classod_1_1_o_d_detection3_d.html">od::ODDetection3D</a></div><div class="ttdoc">Detection in 3D with 3D location information. </div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00175">ODDetection.h:175</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detection2_d_html"><div class="ttname"><a href="classod_1_1_o_d_detection2_d.html">od::ODDetection2D</a></div><div class="ttdoc">Detection for 2D with 2D location information. </div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00122">ODDetection.h:122</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detection_html_af458fa57019e1aaeb52fd3beb2b917dd"><div class="ttname"><a href="classod_1_1_o_d_detection.html#af458fa57019e1aaeb52fd3beb2b917dd">od::ODDetection::getType</a></div><div class="ttdeci">DetectionType const & getType() const </div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00076">ODDetection.h:76</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detection_html_aecd72f34d392ab1cb143ff01c47afb4a"><div class="ttname"><a href="classod_1_1_o_d_detection.html#aecd72f34d392ab1cb143ff01c47afb4a">od::ODDetection::ODDetection</a></div><div class="ttdeci">ODDetection(DetectionType const &type_=OD_DETECTION_NULL, std::string const &id_="", double confidence_=1)</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00066">ODDetection.h:66</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detections3_d_html_a3bd9e1a91e72bde623a2a6b45971fd05"><div class="ttname"><a href="classod_1_1_o_d_detections3_d.html#a3bd9e1a91e72bde623a2a6b45971fd05">od::ODDetections3D::at</a></div><div class="ttdeci">ODDetection3D * at(int i)</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00402">ODDetection.h:402</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detections2_d_html_aaa9d97471cceea7c94d89c48c460cab4"><div class="ttname"><a href="classod_1_1_o_d_detections2_d.html#aaa9d97471cceea7c94d89c48c460cab4">od::ODDetections2D::at</a></div><div class="ttdeci">ODDetection2D * at(int i)</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00368">ODDetection.h:368</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detection3_d_html_a1cbbaadd324878a9665290d6056eeb10"><div class="ttname"><a href="classod_1_1_o_d_detection3_d.html#a1cbbaadd324878a9665290d6056eeb10">od::ODDetection3D::orientation_</a></div><div class="ttdeci">Eigen::Matrix3Xd orientation_</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00255">ODDetection.h:255</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detection_html_a463d116387e63b9748999bbdcd3d9f6c"><div class="ttname"><a href="classod_1_1_o_d_detection.html#a463d116387e63b9748999bbdcd3d9f6c">od::ODDetection::setType</a></div><div class="ttdeci">void setType(DetectionType const &type_)</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00081">ODDetection.h:81</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detections2_d_html_a3297fb185a951414197e1db893a4cdaf"><div class="ttname"><a href="classod_1_1_o_d_detections2_d.html#a3297fb185a951414197e1db893a4cdaf">od::ODDetections2D::renderMetainfo</a></div><div class="ttdeci">ODSceneImage renderMetainfo(ODSceneImage input)</div><div class="ttdoc">Draws rectangles over the input image using the bounding box information present in all the 2D detect...</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00346">ODDetection.h:346</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detections3_d_html"><div class="ttname"><a href="classod_1_1_o_d_detections3_d.html">od::ODDetections3D</a></div><div class="ttdoc">The container class for ODDetection3D returned by ODDetector3D. </div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00377">ODDetection.h:377</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detections2_d_html"><div class="ttname"><a href="classod_1_1_o_d_detections2_d.html">od::ODDetections2D</a></div><div class="ttdoc">The container class for ODDetection2D returned by ODDetector2D. </div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00340">ODDetection.h:340</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detection3_d_html_ae4b7598d749ed08cff618bd6a6a2b90d"><div class="ttname"><a href="classod_1_1_o_d_detection3_d.html#ae4b7598d749ed08cff618bd6a6a2b90d">od::ODDetection3D::printSelf</a></div><div class="ttdeci">void printSelf()</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00246">ODDetection.h:246</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detection3_d_html_afa837b87ee21b0bf09ab588be9ca7895"><div class="ttname"><a href="classod_1_1_o_d_detection3_d.html#afa837b87ee21b0bf09ab588be9ca7895">od::ODDetection3D::setMetainfoImage</a></div><div class="ttdeci">void setMetainfoImage(cv::Mat const &metainfo_image)</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00224">ODDetection.h:224</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detections_html_a8768f8ed416b98864b9c86ca583a9a57"><div class="ttname"><a href="classod_1_1_o_d_detections.html#a8768f8ed416b98864b9c86ca583a9a57">od::ODDetections::at</a></div><div class="ttdeci">ODDetection * at(int i)</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00304">ODDetection.h:304</a></div></div>
<div class="ttc" id="classod_1_1_o_d_scene_image_html_aa612c7d253de19c5e168b5f4c64e71b8"><div class="ttname"><a href="classod_1_1_o_d_scene_image.html#aa612c7d253de19c5e168b5f4c64e71b8">od::ODSceneImage::getCVImage</a></div><div class="ttdeci">cv::Mat getCVImage()</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_scene_8h_source.html#l00105">ODScene.h:105</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detection2_d_html_ac1df4e024861973948934937e64d99e2"><div class="ttname"><a href="classod_1_1_o_d_detection2_d.html#ac1df4e024861973948934937e64d99e2">od::ODDetection2D::bounding_box_2d_</a></div><div class="ttdeci">cv::Rect bounding_box_2d_</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00166">ODDetection.h:166</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detections_html"><div class="ttname"><a href="classod_1_1_o_d_detections.html">od::ODDetections</a></div><div class="ttdoc">The container class for ODDetection. </div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00275">ODDetection.h:275</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detection2_d_html_a137890df696c09aeba4ea65f868c4b39"><div class="ttname"><a href="classod_1_1_o_d_detection2_d.html#a137890df696c09aeba4ea65f868c4b39">od::ODDetection2D::setMetainfoImage</a></div><div class="ttdeci">void setMetainfoImage(cv::Mat const &metainfo_image_)</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00159">ODDetection.h:159</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detections_html_acafb500a8f74a62c6d7fefc4a9dd4699"><div class="ttname"><a href="classod_1_1_o_d_detections.html#acafb500a8f74a62c6d7fefc4a9dd4699">od::ODDetections::getMetainfoImage</a></div><div class="ttdeci">cv::Mat const & getMetainfoImage() const </div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00306">ODDetection.h:306</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detections_html_adf82a664d3bafa944309400d21397535"><div class="ttname"><a href="classod_1_1_o_d_detections.html#adf82a664d3bafa944309400d21397535">od::ODDetections::ODDetections</a></div><div class="ttdeci">ODDetections(int n=0)</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detection_8h_source.html#l00279">ODDetection.h:279</a></div></div>
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