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<!-- HTML header for doxygen 1.8.6-->
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 <span id="projectnumber">1.0</span>
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<div class="title">ODScene.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 10.06.15.</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_SCENE_H</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="preprocessor"></span><span class="preprocessor">#define OPENDETECTION_SCENE_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="comment">//#include <opencv2/core/core.hpp></span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="preprocessor">#include <opencv2/core/types.hpp></span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="preprocessor">#include <iostream></span></div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="preprocessor">#include <opencv2/imgcodecs.hpp></span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#include <pcl/point_cloud.h></span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="preprocessor">#include <pcl/io/pcd_io.h></span></div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#include <boost/smart_ptr/make_shared_object.hpp></span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> </div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="keyword">namespace </span>od</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> {<span class="comment"></span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="comment"> /** \brief Base class for Scenes. This contains information about the scenes. Scenes can be image scenes or point cloud scenes</span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="comment"> * \author Kripasindhu Sarkar</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"> */</span></div>
<div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_scene.html"> 49</a></span>  <span class="keyword">class </span><a class="code" href="classod_1_1_o_d_scene.html">ODScene</a></div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  {</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <span class="keyword">public</span>:</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">virtual</span> <span class="keywordtype">void</span> *<a class="code" href="classod_1_1_o_d_scene.html#aff927712c5e9a6112812d4a709cefdfb">getData</a>() = 0;</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_scene.html#aeba1def292bc951d3b9d88c8584bc997"> 55</a></span>  std::string <span class="keyword">const</span> &<a class="code" href="classod_1_1_o_d_scene.html#aeba1def292bc951d3b9d88c8584bc997">getPath</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <span class="keywordflow">return</span> <a class="code" href="classod_1_1_o_d_scene.html#aca063b3386713f4ece014a701bfd976e">path_</a>;</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</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>  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_scene.html#aca063b3386713f4ece014a701bfd976e"> 61</a></span>  std::string <a class="code" href="classod_1_1_o_d_scene.html#aca063b3386713f4ece014a701bfd976e">path_</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> <span class="comment"></span></div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span> <span class="comment"> /** \brief Class for Image Scene.</span></div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span> <span class="comment"> * \author Kripasindhu Sarkar</span></div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span> <span class="comment"> *</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"><a class="line" href="classod_1_1_o_d_scene_image.html"> 69</a></span>  <span class="keyword">class </span><a class="code" href="classod_1_1_o_d_scene_image.html">ODSceneImage</a> : <span class="keyword">public</span> <a class="code" href="classod_1_1_o_d_scene.html">ODScene</a></div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  {</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span> </div>
<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_scene_image.html#a7791217a9edd14d6357aa960b746bf84"> 73</a></span>  std::vector<cv::KeyPoint> <span class="keyword">const</span> &<a class="code" href="classod_1_1_o_d_scene_image.html#a7791217a9edd14d6357aa960b746bf84">getKeypoints</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="keywordflow">return</span> <a class="code" href="classod_1_1_o_d_scene_image.html#ae94ce2399a5e642898701407dc34e702">keypoints_</a>;</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_scene_image.html#aa3df974cb1a8d9f6370ffdb8df2b74f2"> 78</a></span>  <span class="keywordtype">void</span> <a class="code" href="classod_1_1_o_d_scene_image.html#aa3df974cb1a8d9f6370ffdb8df2b74f2">setKeypoints</a>(std::vector<cv::KeyPoint> <span class="keyword">const</span> &<a class="code" href="classod_1_1_o_d_scene_image.html#ae94ce2399a5e642898701407dc34e702">keypoints_</a>)</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>  <a class="code" href="classod_1_1_o_d_scene_image.html#ae94ce2399a5e642898701407dc34e702">ODSceneImage::keypoints_</a> = <a class="code" href="classod_1_1_o_d_scene_image.html#ae94ce2399a5e642898701407dc34e702">keypoints_</a>;</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> </div>
<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_scene_image.html#af5aa45fe61eb97c6fc3a284e5c269f54"> 83</a></span>  cv::Mat <span class="keyword">const</span> &<a class="code" href="classod_1_1_o_d_scene_image.html#af5aa45fe61eb97c6fc3a284e5c269f54">getDescriptors</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="keywordflow">return</span> <a class="code" href="classod_1_1_o_d_scene_image.html#a0b41a7b96f58988bffdc84b18ee81485">descriptors_</a>;</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  }</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span> </div>
<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_scene_image.html#a1693cea1cac21e1b42319b78ac3308a8"> 88</a></span>  <span class="keywordtype">void</span> <a class="code" href="classod_1_1_o_d_scene_image.html#a1693cea1cac21e1b42319b78ac3308a8">setDescriptors</a>(cv::Mat <span class="keyword">const</span> &<a class="code" href="classod_1_1_o_d_scene_image.html#a0b41a7b96f58988bffdc84b18ee81485">descriptors_</a>)</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>  <a class="code" href="classod_1_1_o_d_scene_image.html#a0b41a7b96f58988bffdc84b18ee81485">ODSceneImage::descriptors_</a> = <a class="code" href="classod_1_1_o_d_scene_image.html#a0b41a7b96f58988bffdc84b18ee81485">descriptors_</a>;</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  <a class="code" href="classod_1_1_o_d_scene_image.html#a7b51869592326113c83be20e50f9516f">is_trained_</a> = <span class="keyword">true</span>;</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> </div>
<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_scene_image.html#a1b92b1ba4845a6b28e22347caf275622"> 94</a></span>  <a class="code" href="classod_1_1_o_d_scene_image.html#a1b92b1ba4845a6b28e22347caf275622">ODSceneImage</a>(cv::Mat <span class="keyword">const</span> &cvimage):<a class="code" href="classod_1_1_o_d_scene_image.html#a7b51869592326113c83be20e50f9516f">is_trained_</a>(false)</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>  this-><a class="code" href="classod_1_1_o_d_scene_image.html#a07918bd1e17114fa064917b470239e7e">cvimage_</a> = cvimage.clone();</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  }</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span> </div>
<div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_scene_image.html#a5d7593bd66935c149c617a38657d74cd"> 99</a></span>  <a class="code" href="classod_1_1_o_d_scene_image.html#a5d7593bd66935c149c617a38657d74cd">ODSceneImage</a>(std::string <span class="keyword">const</span> &path):<a class="code" href="classod_1_1_o_d_scene_image.html#a7b51869592326113c83be20e50f9516f">is_trained_</a>(false)</div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  {</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  this-><a class="code" href="classod_1_1_o_d_scene_image.html#a07918bd1e17114fa064917b470239e7e">cvimage_</a> = cv::imread(path);</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  this-><a class="code" href="classod_1_1_o_d_scene.html#aca063b3386713f4ece014a701bfd976e">path_</a> = path;</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  }</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span> </div>
<div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_scene_image.html#aa612c7d253de19c5e168b5f4c64e71b8"> 105</a></span>  cv::Mat <a class="code" href="classod_1_1_o_d_scene_image.html#aa612c7d253de19c5e168b5f4c64e71b8">getCVImage</a>()</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  {</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <span class="keywordflow">return</span> <a class="code" href="classod_1_1_o_d_scene_image.html#a07918bd1e17114fa064917b470239e7e">cvimage_</a>;</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  }</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span> </div>
<div class="line"><a name="l00110"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_scene_image.html#a6e2d9f61c8d79907a1da0fc6d7b6f95a"> 110</a></span>  <span class="keywordtype">void</span> *<a class="code" href="classod_1_1_o_d_scene_image.html#a6e2d9f61c8d79907a1da0fc6d7b6f95a">getData</a>()</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  {</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <span class="keywordflow">return</span> &<a class="code" href="classod_1_1_o_d_scene_image.html#a07918bd1e17114fa064917b470239e7e">cvimage_</a>;</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  }</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span> </div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_scene_image.html#a07918bd1e17114fa064917b470239e7e"> 116</a></span>  cv::Mat <a class="code" href="classod_1_1_o_d_scene_image.html#a07918bd1e17114fa064917b470239e7e">cvimage_</a>;</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span> </div>
<div class="line"><a name="l00118"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_scene_image.html#ae94ce2399a5e642898701407dc34e702"> 118</a></span>  std::vector<cv::KeyPoint> <a class="code" href="classod_1_1_o_d_scene_image.html#ae94ce2399a5e642898701407dc34e702">keypoints_</a>;</div>
<div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_scene_image.html#a0b41a7b96f58988bffdc84b18ee81485"> 119</a></span>  cv::Mat <a class="code" href="classod_1_1_o_d_scene_image.html#a0b41a7b96f58988bffdc84b18ee81485">descriptors_</a>;</div>
<div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_scene_image.html#a7b51869592326113c83be20e50f9516f"> 120</a></span>  <span class="keywordtype">bool</span> <a class="code" href="classod_1_1_o_d_scene_image.html#a7b51869592326113c83be20e50f9516f">is_trained_</a>;</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span> </div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  };</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="comment"></span></div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span> <span class="comment"> /** \brief Class for 3D scene containing point cloud.</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"> * \author Kripasindhu Sarkar</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"> */</span></div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Type = pcl::Po<span class="keywordtype">int</span>XYZRGBA></div>
<div class="line"><a name="l00131"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_scene_point_cloud.html"> 131</a></span>  <span class="keyword">class </span><a class="code" href="classod_1_1_o_d_scene_point_cloud.html">ODScenePointCloud</a> : <span class="keyword">public</span> <a class="code" href="classod_1_1_o_d_scene.html">ODScene</a></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"> 134</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_scene_point_cloud.html#a2820419501570123378f06c5f8fb7510"> 135</a></span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::PointCloud<PointType>::Ptr <a class="code" href="classod_1_1_o_d_scene_point_cloud.html#a2820419501570123378f06c5f8fb7510">PointCloudPtr</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"><a class="line" href="classod_1_1_o_d_scene_point_cloud.html#ac87558892753cb54efe29536ff509153"> 137</a></span>  <a class="code" href="classod_1_1_o_d_scene_point_cloud.html#ac87558892753cb54efe29536ff509153">ODScenePointCloud</a>(<a class="code" href="classod_1_1_o_d_scene_point_cloud.html#a2820419501570123378f06c5f8fb7510">PointCloudPtr</a> <span class="keyword">const</span> &point_cloud)</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  {</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  <a class="code" href="classod_1_1_o_d_scene_point_cloud.html#a4234d3e787e26dba069d72b70ed1543c">point_cloud_</a> = point_cloud;</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> </div>
<div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_scene_point_cloud.html#ae4f2168a566c816ec1723dfac321fe36"> 142</a></span>  <a class="code" href="classod_1_1_o_d_scene_point_cloud.html#ae4f2168a566c816ec1723dfac321fe36">ODScenePointCloud</a>(std::string point_cloud_file): <a class="code" href="classod_1_1_o_d_scene_point_cloud.html#a4234d3e787e26dba069d72b70ed1543c">point_cloud_</a>(new pcl::PointCloud<PointType>())</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  {</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  <span class="keywordflow">if</span> (pcl::io::loadPCDFile<PointType> (point_cloud_file, *<a class="code" href="classod_1_1_o_d_scene_point_cloud.html#a4234d3e787e26dba069d72b70ed1543c">point_cloud_</a> ) == -1)</div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  {</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  std::cout<<<span class="stringliteral">"ERROR: Couldn't read the file "</span><< point_cloud_file <<std::endl;</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>  this-><a class="code" href="classod_1_1_o_d_scene.html#aca063b3386713f4ece014a701bfd976e">path_</a> = point_cloud_file;</div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  }</div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span> </div>
<div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_scene_point_cloud.html#a51efef9682c8b571dc5299c80b82d734"> 151</a></span>  <a class="code" href="classod_1_1_o_d_scene_point_cloud.html#a51efef9682c8b571dc5299c80b82d734">ODScenePointCloud</a>(): <a class="code" href="classod_1_1_o_d_scene_point_cloud.html#a4234d3e787e26dba069d72b70ed1543c">point_cloud_</a>(new pcl::PointCloud<PointType>())</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_scene_point_cloud.html#a12fa982b49cc6745c257f50b8a504ab1"> 154</a></span>  <a class="code" href="classod_1_1_o_d_scene_point_cloud.html#a2820419501570123378f06c5f8fb7510">PointCloudPtr</a> <span class="keyword">const</span> &<a class="code" href="classod_1_1_o_d_scene_point_cloud.html#a12fa982b49cc6745c257f50b8a504ab1">getPointCloud</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_scene_point_cloud.html#a4234d3e787e26dba069d72b70ed1543c">point_cloud_</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_scene_point_cloud.html#ab804d5b7674922e792733336fbfce347"> 159</a></span>  <a class="code" href="classod_1_1_o_d_scene_point_cloud.html#a2820419501570123378f06c5f8fb7510">PointCloudPtr</a> &<a class="code" href="classod_1_1_o_d_scene_point_cloud.html#ab804d5b7674922e792733336fbfce347">getPointCloudRef</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  <span class="keywordflow">return</span> <a class="code" href="classod_1_1_o_d_scene_point_cloud.html#a4234d3e787e26dba069d72b70ed1543c">point_cloud_</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"><a class="line" href="classod_1_1_o_d_scene_point_cloud.html#a8bcb92c523019624ebc1f71de61a84e2"> 164</a></span>  <span class="keywordtype">void</span> <a class="code" href="classod_1_1_o_d_scene_point_cloud.html#a8bcb92c523019624ebc1f71de61a84e2">setPointCloud</a>(<a class="code" href="classod_1_1_o_d_scene_point_cloud.html#a2820419501570123378f06c5f8fb7510">PointCloudPtr</a> <span class="keyword">const</span> &<a class="code" href="classod_1_1_o_d_scene_point_cloud.html#a4234d3e787e26dba069d72b70ed1543c">point_cloud_</a>)</div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  {</div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  <a class="code" href="classod_1_1_o_d_scene_point_cloud.html#a4234d3e787e26dba069d72b70ed1543c">ODScenePointCloud::point_cloud_</a> = <a class="code" href="classod_1_1_o_d_scene_point_cloud.html#a4234d3e787e26dba069d72b70ed1543c">point_cloud_</a>;</div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  }</div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span> </div>
<div class="line"><a name="l00169"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_scene_point_cloud.html#ab632b4502db516e008cf418cb8fb1d6f"> 169</a></span>  <span class="keywordtype">void</span> * <a class="code" href="classod_1_1_o_d_scene_point_cloud.html#ab632b4502db516e008cf418cb8fb1d6f">getData</a>() { <span class="keywordflow">return</span> (<span class="keywordtype">void</span> *)<a class="code" href="classod_1_1_o_d_scene_point_cloud.html#a4234d3e787e26dba069d72b70ed1543c">point_cloud_</a>.get(); }</div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00171"></a><span class="lineno"><a class="line" href="classod_1_1_o_d_scene_point_cloud.html#a4234d3e787e26dba069d72b70ed1543c"> 171</a></span>  <a class="code" href="classod_1_1_o_d_scene_point_cloud.html#a2820419501570123378f06c5f8fb7510">PointCloudPtr</a> <a class="code" href="classod_1_1_o_d_scene_point_cloud.html#a4234d3e787e26dba069d72b70ed1543c">point_cloud_</a>;</div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  };</div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span> }</div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span> </div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span> <span class="preprocessor">#endif //OPENDETECTION_SCENE_H</span></div>
<div class="ttc" id="classod_1_1_o_d_scene_point_cloud_html_a4234d3e787e26dba069d72b70ed1543c"><div class="ttname"><a href="classod_1_1_o_d_scene_point_cloud.html#a4234d3e787e26dba069d72b70ed1543c">od::ODScenePointCloud::point_cloud_</a></div><div class="ttdeci">PointCloudPtr point_cloud_</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_scene_8h_source.html#l00171">ODScene.h:171</a></div></div>
<div class="ttc" id="classod_1_1_o_d_scene_image_html_aa3df974cb1a8d9f6370ffdb8df2b74f2"><div class="ttname"><a href="classod_1_1_o_d_scene_image.html#aa3df974cb1a8d9f6370ffdb8df2b74f2">od::ODSceneImage::setKeypoints</a></div><div class="ttdeci">void setKeypoints(std::vector< cv::KeyPoint > const &keypoints_)</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_scene_8h_source.html#l00078">ODScene.h:78</a></div></div>
<div class="ttc" id="classod_1_1_o_d_scene_point_cloud_html_a51efef9682c8b571dc5299c80b82d734"><div class="ttname"><a href="classod_1_1_o_d_scene_point_cloud.html#a51efef9682c8b571dc5299c80b82d734">od::ODScenePointCloud::ODScenePointCloud</a></div><div class="ttdeci">ODScenePointCloud()</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_scene_8h_source.html#l00151">ODScene.h:151</a></div></div>
<div class="ttc" id="classod_1_1_o_d_scene_point_cloud_html_ab804d5b7674922e792733336fbfce347"><div class="ttname"><a href="classod_1_1_o_d_scene_point_cloud.html#ab804d5b7674922e792733336fbfce347">od::ODScenePointCloud::getPointCloudRef</a></div><div class="ttdeci">PointCloudPtr & getPointCloudRef() const </div><div class="ttdef"><b>Definition:</b> <a href="_o_d_scene_8h_source.html#l00159">ODScene.h:159</a></div></div>
<div class="ttc" id="classod_1_1_o_d_scene_point_cloud_html_ac87558892753cb54efe29536ff509153"><div class="ttname"><a href="classod_1_1_o_d_scene_point_cloud.html#ac87558892753cb54efe29536ff509153">od::ODScenePointCloud::ODScenePointCloud</a></div><div class="ttdeci">ODScenePointCloud(PointCloudPtr const &point_cloud)</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_scene_8h_source.html#l00137">ODScene.h:137</a></div></div>
<div class="ttc" id="classod_1_1_o_d_scene_point_cloud_html_ae4f2168a566c816ec1723dfac321fe36"><div class="ttname"><a href="classod_1_1_o_d_scene_point_cloud.html#ae4f2168a566c816ec1723dfac321fe36">od::ODScenePointCloud::ODScenePointCloud</a></div><div class="ttdeci">ODScenePointCloud(std::string point_cloud_file)</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_scene_8h_source.html#l00142">ODScene.h:142</a></div></div>
<div class="ttc" id="classod_1_1_o_d_scene_image_html_ae94ce2399a5e642898701407dc34e702"><div class="ttname"><a href="classod_1_1_o_d_scene_image.html#ae94ce2399a5e642898701407dc34e702">od::ODSceneImage::keypoints_</a></div><div class="ttdeci">std::vector< cv::KeyPoint > keypoints_</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_scene_8h_source.html#l00118">ODScene.h:118</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_scene_point_cloud_html_a12fa982b49cc6745c257f50b8a504ab1"><div class="ttname"><a href="classod_1_1_o_d_scene_point_cloud.html#a12fa982b49cc6745c257f50b8a504ab1">od::ODScenePointCloud::getPointCloud</a></div><div class="ttdeci">PointCloudPtr const & getPointCloud() const </div><div class="ttdef"><b>Definition:</b> <a href="_o_d_scene_8h_source.html#l00154">ODScene.h:154</a></div></div>
<div class="ttc" id="classod_1_1_o_d_scene_image_html_a1b92b1ba4845a6b28e22347caf275622"><div class="ttname"><a href="classod_1_1_o_d_scene_image.html#a1b92b1ba4845a6b28e22347caf275622">od::ODSceneImage::ODSceneImage</a></div><div class="ttdeci">ODSceneImage(cv::Mat const &cvimage)</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_scene_8h_source.html#l00094">ODScene.h:94</a></div></div>
<div class="ttc" id="classod_1_1_o_d_scene_html_aeba1def292bc951d3b9d88c8584bc997"><div class="ttname"><a href="classod_1_1_o_d_scene.html#aeba1def292bc951d3b9d88c8584bc997">od::ODScene::getPath</a></div><div class="ttdeci">std::string const & getPath() const </div><div class="ttdef"><b>Definition:</b> <a href="_o_d_scene_8h_source.html#l00055">ODScene.h:55</a></div></div>
<div class="ttc" id="classod_1_1_o_d_scene_html_aca063b3386713f4ece014a701bfd976e"><div class="ttname"><a href="classod_1_1_o_d_scene.html#aca063b3386713f4ece014a701bfd976e">od::ODScene::path_</a></div><div class="ttdeci">std::string path_</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_scene_8h_source.html#l00061">ODScene.h:61</a></div></div>
<div class="ttc" id="classod_1_1_o_d_scene_image_html_a0b41a7b96f58988bffdc84b18ee81485"><div class="ttname"><a href="classod_1_1_o_d_scene_image.html#a0b41a7b96f58988bffdc84b18ee81485">od::ODSceneImage::descriptors_</a></div><div class="ttdeci">cv::Mat descriptors_</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_scene_8h_source.html#l00119">ODScene.h:119</a></div></div>
<div class="ttc" id="classod_1_1_o_d_scene_image_html_a5d7593bd66935c149c617a38657d74cd"><div class="ttname"><a href="classod_1_1_o_d_scene_image.html#a5d7593bd66935c149c617a38657d74cd">od::ODSceneImage::ODSceneImage</a></div><div class="ttdeci">ODSceneImage(std::string const &path)</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_scene_8h_source.html#l00099">ODScene.h:99</a></div></div>
<div class="ttc" id="classod_1_1_o_d_scene_image_html_a07918bd1e17114fa064917b470239e7e"><div class="ttname"><a href="classod_1_1_o_d_scene_image.html#a07918bd1e17114fa064917b470239e7e">od::ODSceneImage::cvimage_</a></div><div class="ttdeci">cv::Mat cvimage_</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_scene_8h_source.html#l00116">ODScene.h:116</a></div></div>
<div class="ttc" id="classod_1_1_o_d_scene_image_html_a1693cea1cac21e1b42319b78ac3308a8"><div class="ttname"><a href="classod_1_1_o_d_scene_image.html#a1693cea1cac21e1b42319b78ac3308a8">od::ODSceneImage::setDescriptors</a></div><div class="ttdeci">void setDescriptors(cv::Mat const &descriptors_)</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_scene_8h_source.html#l00088">ODScene.h:88</a></div></div>
<div class="ttc" id="classod_1_1_o_d_scene_image_html_a7791217a9edd14d6357aa960b746bf84"><div class="ttname"><a href="classod_1_1_o_d_scene_image.html#a7791217a9edd14d6357aa960b746bf84">od::ODSceneImage::getKeypoints</a></div><div class="ttdeci">std::vector< cv::KeyPoint > const & getKeypoints() const </div><div class="ttdef"><b>Definition:</b> <a href="_o_d_scene_8h_source.html#l00073">ODScene.h:73</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_scene_point_cloud_html_a2820419501570123378f06c5f8fb7510"><div class="ttname"><a href="classod_1_1_o_d_scene_point_cloud.html#a2820419501570123378f06c5f8fb7510">od::ODScenePointCloud::PointCloudPtr</a></div><div class="ttdeci">pcl::PointCloud< PointType >::Ptr PointCloudPtr</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_scene_8h_source.html#l00135">ODScene.h:135</a></div></div>
<div class="ttc" id="classod_1_1_o_d_scene_image_html_af5aa45fe61eb97c6fc3a284e5c269f54"><div class="ttname"><a href="classod_1_1_o_d_scene_image.html#af5aa45fe61eb97c6fc3a284e5c269f54">od::ODSceneImage::getDescriptors</a></div><div class="ttdeci">cv::Mat const & getDescriptors() const </div><div class="ttdef"><b>Definition:</b> <a href="_o_d_scene_8h_source.html#l00083">ODScene.h:83</a></div></div>
<div class="ttc" id="classod_1_1_o_d_scene_image_html_a6e2d9f61c8d79907a1da0fc6d7b6f95a"><div class="ttname"><a href="classod_1_1_o_d_scene_image.html#a6e2d9f61c8d79907a1da0fc6d7b6f95a">od::ODSceneImage::getData</a></div><div class="ttdeci">void * getData()</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_scene_8h_source.html#l00110">ODScene.h:110</a></div></div>
<div class="ttc" id="classod_1_1_o_d_scene_html_aff927712c5e9a6112812d4a709cefdfb"><div class="ttname"><a href="classod_1_1_o_d_scene.html#aff927712c5e9a6112812d4a709cefdfb">od::ODScene::getData</a></div><div class="ttdeci">virtual void * getData()=0</div></div>
<div class="ttc" id="classod_1_1_o_d_scene_point_cloud_html_a8bcb92c523019624ebc1f71de61a84e2"><div class="ttname"><a href="classod_1_1_o_d_scene_point_cloud.html#a8bcb92c523019624ebc1f71de61a84e2">od::ODScenePointCloud::setPointCloud</a></div><div class="ttdeci">void setPointCloud(PointCloudPtr const &point_cloud_)</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_scene_8h_source.html#l00164">ODScene.h:164</a></div></div>
<div class="ttc" id="classod_1_1_o_d_scene_image_html_a7b51869592326113c83be20e50f9516f"><div class="ttname"><a href="classod_1_1_o_d_scene_image.html#a7b51869592326113c83be20e50f9516f">od::ODSceneImage::is_trained_</a></div><div class="ttdeci">bool is_trained_</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_scene_8h_source.html#l00120">ODScene.h:120</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_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_scene_point_cloud_html_ab632b4502db516e008cf418cb8fb1d6f"><div class="ttname"><a href="classod_1_1_o_d_scene_point_cloud.html#ab632b4502db516e008cf418cb8fb1d6f">od::ODScenePointCloud::getData</a></div><div class="ttdeci">void * getData()</div><div class="ttdef"><b>Definition:</b> <a href="_o_d_scene_8h_source.html#l00169">ODScene.h:169</a></div></div>
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