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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 08.06.15.</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_ODDETECTOR_H</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="preprocessor"></span><span class="preprocessor">#define OPENDETECTION_ODDETECTOR_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 "ObjectDetector.h"</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="preprocessor">#include "ODScene.h"</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="preprocessor">#include "ODDetection.h"</span></div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="preprocessor">#include "ObjectDetector.h"</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#include "ODAlgorithmBase.h"</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="preprocessor">#include <iostream></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="keyword">namespace </span>od</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> {<span class="comment"></span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="comment"> /** \brief The main detector class; all special Detectors derives from this.</span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="comment"> * Provides interface for two important function detect() and detectOmni(). detectOmni() performs a detection/recognition on the entire scene (unsegmented and unprocessed)</span></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="comment"> * and provides information about the detection as well as its exact location. detect() takes an 'object candidate' or a segmented/processed scene as an input and identifies if the entire scene is a detection.</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"> * \author Kripasindhu Sarkar</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"> */</span></div>
<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detector.html"> 51</a></span>  <span class="keyword">class </span><a class="code" href="classod_1_1_o_d_detector.html">ODDetector</a>: <span class="keyword">public</span> <a class="code" href="classod_1_1_o_d_detector_common.html">ODDetectorCommon</a></div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  {</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> </div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detector.html#aefe7562015d02db28798f1fe76a1c5fb"> 55</a></span>  <a class="code" href="classod_1_1_o_d_detector.html#aefe7562015d02db28798f1fe76a1c5fb">ODDetector</a>(std::string <span class="keyword">const</span> &training_data_location_) : <a class="code" href="classod_1_1_o_d_detector_common.html">ODDetectorCommon</a>(training_data_location_)</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  { }</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> </div>
<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detector.html#afa19bd1e93eb936602ef21b384b9ba62"> 58</a></span>  <span class="keyword">virtual</span> <a class="code" href="classod_1_1_o_d_detections.html">ODDetections</a>* <a class="code" href="classod_1_1_o_d_detector.html#afa19bd1e93eb936602ef21b384b9ba62">detect</a>(<a class="code" href="classod_1_1_o_d_scene.html">ODScene</a> *scene){}</div>
<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detector.html#af0afc0da6e085dec24e2cd1ddba8bfcd"> 59</a></span>  <span class="keyword">virtual</span> <a class="code" href="classod_1_1_o_d_detections.html">ODDetections</a>* <a class="code" href="classod_1_1_o_d_detector.html#af0afc0da6e085dec24e2cd1ddba8bfcd">detectOmni</a>(<a class="code" href="classod_1_1_o_d_scene.html">ODScene</a> *scene){}</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_detector.html#a1e65ee754ba37db23c18295a83c4ca6a"> 61</a></span>  <span class="keywordtype">bool</span> <a class="code" href="classod_1_1_o_d_detector.html#a1e65ee754ba37db23c18295a83c4ca6a">metainfo_</a>;</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>  };</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span> <span class="comment"></span></div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span> <span class="comment">/** \brief The detector of 2D scene.</span></div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span> <span class="comment"> * This class takes a 2D scene (ODSceneImage) as input and performs detection on them. All the 2D detectors should derive from this class and implement the detect and detectOmni functions.</span></div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span> <span class="comment"> * \author Kripasindhu Sarkar</span></div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detector2_d.html"> 72</a></span>  <span class="keyword">class </span><a class="code" href="classod_1_1_o_d_detector2_d.html">ODDetector2D</a>: <span class="keyword">public</span> <a class="code" href="classod_1_1_o_d_detector.html">ODDetector</a></div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  {</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detector2_d.html#ad41c5854937566e209d3f88f3e7b07ee"> 75</a></span>  <a class="code" href="classod_1_1_o_d_detector2_d.html#ad41c5854937566e209d3f88f3e7b07ee">ODDetector2D</a>(std::string <span class="keyword">const</span> &<a class="code" href="classod_1_1_o_d_detector_common.html#a4641dc30579c65108a64526d868890f5">trained_data_location_</a>) : <a class="code" href="classod_1_1_o_d_detector.html">ODDetector</a>(trained_data_location_)</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  { }</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span> </div>
<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detector2_d.html#a15a867016967045014dceaa57665f5e6"> 78</a></span>  <a class="code" href="classod_1_1_o_d_detections.html">ODDetections</a>* <a class="code" href="classod_1_1_o_d_detector2_d.html#a15a867016967045014dceaa57665f5e6">detect</a>(<a class="code" href="classod_1_1_o_d_scene.html">ODScene</a> *scene)</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>  <span class="keywordflow">return</span> <a class="code" href="classod_1_1_o_d_detector2_d.html#a15a867016967045014dceaa57665f5e6">detect</a>(dynamic_cast<ODSceneImage *>(scene));</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  }</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span> <span class="comment"></span></div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span> <span class="comment"> /** \brief Function for performing detection on a segmented scene.</span></div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span> <span class="comment"> * The purpose of this function is to perform detection on a segmented scene or an 'object candidate'. i.e. the entire scene is considered as an 'object' or an detection. It is possible for a scene to trigger multiple detections.</span></div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span> <span class="comment"> * \param[in] scene An instance of 2D scene</span></div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span> <span class="comment"> * \return [out] detections A number of detections as an ODDetections instance.</span></div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <span class="keyword">virtual</span> <a class="code" href="classod_1_1_o_d_detections.html">ODDetections</a>* <a class="code" href="classod_1_1_o_d_detector2_d.html#a15a867016967045014dceaa57665f5e6">detect</a>(<a class="code" href="classod_1_1_o_d_scene_image.html">ODSceneImage</a> *scene) = 0;</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span> <span class="comment"></span></div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span> <span class="comment"> /** \brief Function for performing detection on an entire scene.</span></div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span> <span class="comment"> * The purpose of this function is to detect an object in an entire scene. Thus, other than the type of detection we also have information about the location of the detection w.r.t. the scene.</span></div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span> <span class="comment"> * \param[in] scene An instance of 2D scene</span></div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span> <span class="comment"> * \return [out] detections A number of detections as an ODDetections2D instance containing information about the detection and its 2D location.</span></div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  <span class="keyword">virtual</span> <a class="code" href="classod_1_1_o_d_detections2_d.html">ODDetections2D</a>* <a class="code" href="classod_1_1_o_d_detector2_d.html#aa4218ac2d7dfccc913c8eda6428c6892">detectOmni</a>(<a class="code" href="classod_1_1_o_d_scene_image.html">ODSceneImage</a> *scene) = 0;</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  };</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span> <span class="comment"></span></div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span> <span class="comment"> /** \brief The detector of 3D scene.</span></div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span> <span class="comment"> * This class takes a 2D scene (ODSceneImage) as input and performs detection on them. All the 3D detectors should derive from this class and implement the detect and detectOmni functions.</span></div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span> <span class="comment"> * \author Kripasindhu Sarkar</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"> */</span></div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <span class="keyword">template</span><<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T = pcl::Po<span class="keywordtype">int</span>XYZRGBA></div>
<div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detector3_d.html"> 106</a></span>  <span class="keyword">class </span><a class="code" href="classod_1_1_o_d_detector3_d.html">ODDetector3D</a>: <span class="keyword">public</span> <a class="code" href="classod_1_1_o_d_detector.html">ODDetector</a></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>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00109"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detector3_d.html#a9894dc6b87785770203ab551c5c70a44"> 109</a></span>  <a class="code" href="classod_1_1_o_d_detector3_d.html#a9894dc6b87785770203ab551c5c70a44">ODDetector3D</a>(std::string <span class="keyword">const</span> &<a class="code" href="classod_1_1_o_d_detector_common.html#a4641dc30579c65108a64526d868890f5">trained_data_location_</a>) : <a class="code" href="classod_1_1_o_d_detector.html">ODDetector</a>(trained_data_location_)</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="comment"></span></div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span> <span class="comment"> /** \brief Function for performing detection on a segmented scene.</span></div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span> <span class="comment"> * The purpose of this function is to perform detection on a segmented scene or an 'object candidate'. i.e. the entire scene is considered as an 'object' or an detection. It is possible for a scene to trigger multiple detections.</span></div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span> <span class="comment"> * \param[in] scene An instance of 3D scene</span></div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span> <span class="comment"> * \return A number of detections as an ODDetections instance.</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="keyword">virtual</span> <a class="code" href="classod_1_1_o_d_detections.html">ODDetections</a>* <a class="code" href="classod_1_1_o_d_detector3_d.html#a87aa93bbf26ad2cf5992d075a1aaa202">detect</a>(<a class="code" href="classod_1_1_o_d_scene_point_cloud.html">ODScenePointCloud<PointT></a> *scene) = 0;</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"> /** \brief Function for performing detection on an entire scene.</span></div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span> <span class="comment"> * The purpose of this function is to detect an object in an entire scene. Thus, other than the type of detection we also have information about the location of the detection w.r.t. the scene.</span></div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span> <span class="comment"> * \param[in] scene An instance of 3D scene</span></div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span> <span class="comment"> * \return A number of detections as an ODDetections3D instance containing information about the detection and its 3D pose.</span></div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  <span class="keyword">virtual</span> <a class="code" href="classod_1_1_o_d_detections3_d.html">ODDetections3D</a>* <a class="code" href="classod_1_1_o_d_detector3_d.html#a2e84489776b6bd5f540443dac06930fb">detectOmni</a>(<a class="code" href="classod_1_1_o_d_scene_point_cloud.html">ODScenePointCloud<PointT></a> *scene) = 0;</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  };</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span> <span class="comment"></span></div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span> <span class="comment"> /** \brief The detector of 2D scene performing a 'complete detection'.</span></div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span> <span class="comment"> * This class takes a 2D scene (ODSceneImage) as input and performs complete detection on them. That is, other than finding the bounding box or location of the object in the image it</span></div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span> <span class="comment"> * finds out the 3D location and orientation (in other words translation and rotation) of the object in the actual 3D scene as well.</span></div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span> <span class="comment"> * \author Kripasindhu Sarkar</span></div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detector2_d_complete.html"> 135</a></span>  <span class="keyword">class </span><a class="code" href="classod_1_1_o_d_detector2_d_complete.html">ODDetector2DComplete</a>: <span class="keyword">public</span> <a class="code" href="classod_1_1_o_d_detector.html">ODDetector</a></div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  {</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_detector2_d_complete.html#a7e7abd158f07a4acffe421c81c0e8b74"> 138</a></span>  <a class="code" href="classod_1_1_o_d_detector2_d_complete.html#a7e7abd158f07a4acffe421c81c0e8b74">ODDetector2DComplete</a>(std::string <span class="keyword">const</span> &<a class="code" href="classod_1_1_o_d_detector_common.html#a4641dc30579c65108a64526d868890f5">trained_data_location_</a>) : <a class="code" href="classod_1_1_o_d_detector.html">ODDetector</a>(trained_data_location_)</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  { }</div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span> <span class="comment"></span></div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span> <span class="comment"> /** \brief Function for performing detection on a segmented scene.</span></div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span> <span class="comment"> * The purpose of this function is to perform detection on a segmented scene or an 'object candidate'. i.e. the entire scene is considered as an 'object' or an detection. It is possible for a scene to trigger multiple detections.</span></div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span> <span class="comment"> * \param[in] scene An instance of 2D scene</span></div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span> <span class="comment"> * \return A number of detections as an ODDetections instance.</span></div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  <span class="keyword">virtual</span> <a class="code" href="classod_1_1_o_d_detections.html">ODDetections</a>* <a class="code" href="classod_1_1_o_d_detector2_d_complete.html#a151a7304c376b9a681c90bbefd0ed7fd">detect</a>(<a class="code" href="classod_1_1_o_d_scene_image.html">ODSceneImage</a> *scene) = 0;</div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span> <span class="comment"></span></div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span> <span class="comment"> /** \brief Function for performing detection on an entire scene.</span></div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span> <span class="comment"> * The purpose of this function is to detect an object in an entire scene. Thus, other than the type of detection we also have information about the location of the detection w.r.t. the scene.</span></div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span> <span class="comment"> * \param[in] scene An instance of 2D scene</span></div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span> <span class="comment"> * \return A number of detections as an ODDetections3D instance containing information about the detection and its pose in 3D.</span></div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  <span class="keyword">virtual</span> <a class="code" href="classod_1_1_o_d_detections3_d.html">ODDetections3D</a>* <a class="code" href="classod_1_1_o_d_detector2_d_complete.html#ae742ac0f0b7dc75b3cc95d96510a8487">detectOmni</a>(<a class="code" href="classod_1_1_o_d_scene_image.html">ODSceneImage</a> *scene) = 0;</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  };</div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span> </div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span> }</div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span> <span class="preprocessor">#endif //OPENDETECTION_ODDETECTOR_H</span></div>
<div class="ttc" id="classod_1_1_o_d_detector3_d_html_a87aa93bbf26ad2cf5992d075a1aaa202"><div class="ttname"><a href="classod_1_1_o_d_detector3_d.html#a87aa93bbf26ad2cf5992d075a1aaa202">od::ODDetector3D::detect</a></div><div class="ttdeci">virtual ODDetections * detect(ODScenePointCloud< PointT > *scene)=0</div><div class="ttdoc">Function for performing detection on a segmented scene. </div></div>
<div class="ttc" id="classod_1_1_o_d_detector2_d_html_aa4218ac2d7dfccc913c8eda6428c6892"><div class="ttname"><a href="classod_1_1_o_d_detector2_d.html#aa4218ac2d7dfccc913c8eda6428c6892">od::ODDetector2D::detectOmni</a></div><div class="ttdeci">virtual ODDetections2D * detectOmni(ODSceneImage *scene)=0</div><div class="ttdoc">Function for performing detection on an entire scene. </div></div>
<div class="ttc" id="classod_1_1_o_d_detector_html"><div class="ttname"><a href="classod_1_1_o_d_detector.html">od::ODDetector</a></div><div class="ttdoc">The main detector class; all special Detectors derives from this. </div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detector_8h_source.html#l00051">ODDetector.h:51</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detector_html_afa19bd1e93eb936602ef21b384b9ba62"><div class="ttname"><a href="classod_1_1_o_d_detector.html#afa19bd1e93eb936602ef21b384b9ba62">od::ODDetector::detect</a></div><div class="ttdeci">virtual ODDetections * detect(ODScene *scene)</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detector_8h_source.html#l00058">ODDetector.h:58</a></div></div>
<div class="ttc" id="classod_1_1_o_d_scene_html"><div class="ttname"><a href="classod_1_1_o_d_scene.html">od::ODScene</a></div><div class="ttdoc">Base class for Scenes. </div><div class="ttdef"><b>Definition:</b> <a href="_o_d_scene_8h_source.html#l00049">ODScene.h:49</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detector2_d_complete_html_ae742ac0f0b7dc75b3cc95d96510a8487"><div class="ttname"><a href="classod_1_1_o_d_detector2_d_complete.html#ae742ac0f0b7dc75b3cc95d96510a8487">od::ODDetector2DComplete::detectOmni</a></div><div class="ttdeci">virtual ODDetections3D * detectOmni(ODSceneImage *scene)=0</div><div class="ttdoc">Function for performing detection on an entire scene. </div></div>
<div class="ttc" id="classod_1_1_o_d_detector2_d_complete_html_a7e7abd158f07a4acffe421c81c0e8b74"><div class="ttname"><a href="classod_1_1_o_d_detector2_d_complete.html#a7e7abd158f07a4acffe421c81c0e8b74">od::ODDetector2DComplete::ODDetector2DComplete</a></div><div class="ttdeci">ODDetector2DComplete(std::string const &trained_data_location_)</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detector_8h_source.html#l00138">ODDetector.h:138</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detector_common_html_a4641dc30579c65108a64526d868890f5"><div class="ttname"><a href="classod_1_1_o_d_detector_common.html#a4641dc30579c65108a64526d868890f5">od::ODDetectorCommon::trained_data_location_</a></div><div class="ttdeci">std::string trained_data_location_</div><div class="ttdef"><b>Definition:</b> <a href="_object_detector_8h_source.html#l00130">ObjectDetector.h:130</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detector_html_af0afc0da6e085dec24e2cd1ddba8bfcd"><div class="ttname"><a href="classod_1_1_o_d_detector.html#af0afc0da6e085dec24e2cd1ddba8bfcd">od::ODDetector::detectOmni</a></div><div class="ttdeci">virtual ODDetections * detectOmni(ODScene *scene)</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detector_8h_source.html#l00059">ODDetector.h:59</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detector2_d_complete_html"><div class="ttname"><a href="classod_1_1_o_d_detector2_d_complete.html">od::ODDetector2DComplete</a></div><div class="ttdoc">The detector of 2D scene performing a 'complete detection'. </div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detector_8h_source.html#l00135">ODDetector.h:135</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detector_html_a1e65ee754ba37db23c18295a83c4ca6a"><div class="ttname"><a href="classod_1_1_o_d_detector.html#a1e65ee754ba37db23c18295a83c4ca6a">od::ODDetector::metainfo_</a></div><div class="ttdeci">bool metainfo_</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detector_8h_source.html#l00061">ODDetector.h:61</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_detector2_d_html_ad41c5854937566e209d3f88f3e7b07ee"><div class="ttname"><a href="classod_1_1_o_d_detector2_d.html#ad41c5854937566e209d3f88f3e7b07ee">od::ODDetector2D::ODDetector2D</a></div><div class="ttdeci">ODDetector2D(std::string const &trained_data_location_)</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detector_8h_source.html#l00075">ODDetector.h:75</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detector2_d_complete_html_a151a7304c376b9a681c90bbefd0ed7fd"><div class="ttname"><a href="classod_1_1_o_d_detector2_d_complete.html#a151a7304c376b9a681c90bbefd0ed7fd">od::ODDetector2DComplete::detect</a></div><div class="ttdeci">virtual ODDetections * detect(ODSceneImage *scene)=0</div><div class="ttdoc">Function for performing detection on a segmented scene. </div></div>
<div class="ttc" id="classod_1_1_o_d_detector_common_html"><div class="ttname"><a href="classod_1_1_o_d_detector_common.html">od::ODDetectorCommon</a></div><div class="ttdoc">The common class for detectors. </div><div class="ttdef"><b>Definition:</b> <a href="_object_detector_8h_source.html#l00060">ObjectDetector.h:60</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detector2_d_html_a15a867016967045014dceaa57665f5e6"><div class="ttname"><a href="classod_1_1_o_d_detector2_d.html#a15a867016967045014dceaa57665f5e6">od::ODDetector2D::detect</a></div><div class="ttdeci">ODDetections * detect(ODScene *scene)</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detector_8h_source.html#l00078">ODDetector.h:78</a></div></div>
<div class="ttc" id="classod_1_1_o_d_scene_point_cloud_html"><div class="ttname"><a href="classod_1_1_o_d_scene_point_cloud.html">od::ODScenePointCloud</a></div><div class="ttdoc">Class for 3D scene containing point cloud. </div><div class="ttdef"><b>Definition:</b> <a href="_o_d_scene_8h_source.html#l00131">ODScene.h:131</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_detector3_d_html_a2e84489776b6bd5f540443dac06930fb"><div class="ttname"><a href="classod_1_1_o_d_detector3_d.html#a2e84489776b6bd5f540443dac06930fb">od::ODDetector3D::detectOmni</a></div><div class="ttdeci">virtual ODDetections3D * detectOmni(ODScenePointCloud< PointT > *scene)=0</div><div class="ttdoc">Function for performing detection on an entire scene. </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_detector3_d_html_a9894dc6b87785770203ab551c5c70a44"><div class="ttname"><a href="classod_1_1_o_d_detector3_d.html#a9894dc6b87785770203ab551c5c70a44">od::ODDetector3D::ODDetector3D</a></div><div class="ttdeci">ODDetector3D(std::string const &trained_data_location_)</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detector_8h_source.html#l00109">ODDetector.h:109</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_detector3_d_html"><div class="ttname"><a href="classod_1_1_o_d_detector3_d.html">od::ODDetector3D</a></div><div class="ttdoc">The detector of 3D scene. </div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detector_8h_source.html#l00106">ODDetector.h:106</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detector2_d_html"><div class="ttname"><a href="classod_1_1_o_d_detector2_d.html">od::ODDetector2D</a></div><div class="ttdoc">The detector of 2D scene. </div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detector_8h_source.html#l00072">ODDetector.h:72</a></div></div>
<div class="ttc" id="classod_1_1_o_d_detector_html_aefe7562015d02db28798f1fe76a1c5fb"><div class="ttname"><a href="classod_1_1_o_d_detector.html#aefe7562015d02db28798f1fe76a1c5fb">od::ODDetector::ODDetector</a></div><div class="ttdeci">ODDetector(std::string const &training_data_location_)</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_detector_8h_source.html#l00055">ODDetector.h:55</a></div></div>
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