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Abstract class for hypotheses verification methods. More...

#include <pcl/recognition/hv/hypotheses_verification.h>

Public Member Functions

HypothesisVerification ()
virtual ~HypothesisVerification ()=default
bool getRequiresNormals ()
void setResolution (float r)
void setOcclusionThreshold (float t)
void setInlierThreshold (float r)
void getMask (std::vector< bool > &mask)
void addCompleteModels (std::vector< typename pcl::PointCloud< ModelT >::ConstPtr > &complete_models)
void addNormalsClouds (std::vector< pcl::PointCloud< pcl::Normal >::ConstPtr > &complete_models)
void addModels (std::vector< typename pcl::PointCloud< ModelT >::ConstPtr > &models, bool occlusion_reasoning=false)
void setSceneCloud (const typename pcl::PointCloud< SceneT >::Ptr &scene_cloud)
void setOcclusionCloud (const typename pcl::PointCloud< SceneT >::Ptr &occ_cloud)
virtual void verify ()=0

Protected Attributes

std::vector< bool > mask_
pcl::PointCloud< SceneT >::ConstPtr scene_cloud_
pcl::PointCloud< SceneT >::ConstPtr occlusion_cloud_
bool occlusion_cloud_set_
pcl::PointCloud< SceneT >::Ptr scene_cloud_downsampled_
pcl::search::KdTree< SceneT >::Ptr scene_downsampled_tree_
std::vector< typename pcl::PointCloud< ModelT >::ConstPtr > visible_models_
std::vector< typename pcl::PointCloud< pcl::Normal >::ConstPtr > visible_normal_models_
std::vector< typename pcl::PointCloud< ModelT >::ConstPtr > complete_models_
std::vector< typename pcl::PointCloud< pcl::Normal >::ConstPtr > complete_normal_models_
int zbuffer_scene_resolution_
int zbuffer_self_occlusion_resolution_
float resolution_
float inliers_threshold_
float occlusion_thres_
bool requires_normals_
bool normals_set_

Detailed Description

template<typename ModelT, typename SceneT>
class pcl::HypothesisVerification< ModelT, SceneT >

Abstract class for hypotheses verification methods.

Author
Aitor Aldoma, Federico Tombari

Definition at line 54 of file hypotheses_verification.h.

Constructor & Destructor Documentation

HypothesisVerification()

template<typename ModelT , typename SceneT >
pcl::HypothesisVerification< ModelT, SceneT >::HypothesisVerification ( )
inline

Definition at line 132 of file hypotheses_verification.h.

~HypothesisVerification()

template<typename ModelT , typename SceneT >
virtual pcl::HypothesisVerification< ModelT, SceneT >::~HypothesisVerification ( )
virtualdefault

Member Function Documentation

addCompleteModels()

template<typename ModelT , typename SceneT >
void pcl::HypothesisVerification< ModelT, SceneT >::addCompleteModels ( std::vector< typename pcl::PointCloud< ModelT >::ConstPtr > & complete_models )
inline

Definition at line 196 of file hypotheses_verification.h.

addModels()

template<typename ModelT , typename SceneT >
void pcl::HypothesisVerification< ModelT, SceneT >::addModels ( std::vector< typename pcl::PointCloud< ModelT >::ConstPtr > & models,
bool occlusion_reasoning = false
)
inline

Definition at line 218 of file hypotheses_verification.h.

References pcl::occlusion_reasoning::ZBuffering< ModelT, SceneT >::computeDepthMap(), pcl::copyPointCloud(), pcl::occlusion_reasoning::ZBuffering< ModelT, SceneT >::filter(), and pcl::PointCloud< PointT >::isOrganized().

addNormalsClouds()

template<typename ModelT , typename SceneT >
void pcl::HypothesisVerification< ModelT, SceneT >::addNormalsClouds ( std::vector< pcl::PointCloud< pcl::Normal >::ConstPtr > & complete_models )
inline

Definition at line 207 of file hypotheses_verification.h.

getMask()

template<typename ModelT , typename SceneT >
void pcl::HypothesisVerification< ModelT, SceneT >::getMask ( std::vector< bool > & mask )
inline

Definition at line 184 of file hypotheses_verification.h.

getRequiresNormals()

template<typename ModelT , typename SceneT >
bool pcl::HypothesisVerification< ModelT, SceneT >::getRequiresNormals ( )
inline

Definition at line 147 of file hypotheses_verification.h.

setInlierThreshold()

template<typename ModelT , typename SceneT >
void pcl::HypothesisVerification< ModelT, SceneT >::setInlierThreshold ( float r )
inline

Definition at line 174 of file hypotheses_verification.h.

setOcclusionCloud()

template<typename ModelT , typename SceneT >
void pcl::HypothesisVerification< ModelT, SceneT >::setOcclusionCloud ( const typename pcl::PointCloud< SceneT >::Ptr & occ_cloud )
inline

Definition at line 314 of file hypotheses_verification.h.

setOcclusionThreshold()

template<typename ModelT , typename SceneT >
void pcl::HypothesisVerification< ModelT, SceneT >::setOcclusionThreshold ( float t )
inline

Definition at line 165 of file hypotheses_verification.h.

setResolution()

template<typename ModelT , typename SceneT >
void pcl::HypothesisVerification< ModelT, SceneT >::setResolution ( float r )
inline

Definition at line 156 of file hypotheses_verification.h.

setSceneCloud()

template<typename ModelT , typename SceneT >
void pcl::HypothesisVerification< ModelT, SceneT >::setSceneCloud ( const typename pcl::PointCloud< SceneT >::Ptr & scene_cloud )
inline

Definition at line 293 of file hypotheses_verification.h.

References pcl::Filter< PointT >::filter(), pcl::VoxelGrid< PointT >::setDownsampleAllData(), pcl::PCLBase< PointT >::setInputCloud(), pcl::search::KdTree< PointT, Tree >::setInputCloud(), and pcl::VoxelGrid< PointT >::setLeafSize().

verify()

template<typename ModelT , typename SceneT >
virtual void pcl::HypothesisVerification< ModelT, SceneT >::verify ( )
pure virtual

Implemented in pcl::PapazovHV< ModelT, SceneT >, pcl::GlobalHypothesesVerification< ModelT, SceneT >, and pcl::GreedyVerification< ModelT, SceneT >.

Member Data Documentation

complete_models_

template<typename ModelT , typename SceneT >
std::vector<typename pcl::PointCloud<ModelT>::ConstPtr> pcl::HypothesisVerification< ModelT, SceneT >::complete_models_
protected

Definition at line 95 of file hypotheses_verification.h.

complete_normal_models_

template<typename ModelT , typename SceneT >
std::vector<typename pcl::PointCloud<pcl::Normal>::ConstPtr> pcl::HypothesisVerification< ModelT, SceneT >::complete_normal_models_
protected

Definition at line 97 of file hypotheses_verification.h.

inliers_threshold_

template<typename ModelT , typename SceneT >
float pcl::HypothesisVerification< ModelT, SceneT >::inliers_threshold_
protected

Definition at line 114 of file hypotheses_verification.h.

mask_

template<typename ModelT , typename SceneT >
std::vector<bool> pcl::HypothesisVerification< ModelT, SceneT >::mask_
protected

Definition at line 61 of file hypotheses_verification.h.

normals_set_

template<typename ModelT , typename SceneT >
bool pcl::HypothesisVerification< ModelT, SceneT >::normals_set_
protected

Definition at line 129 of file hypotheses_verification.h.

occlusion_cloud_

template<typename ModelT , typename SceneT >
pcl::PointCloud<SceneT>::ConstPtr pcl::HypothesisVerification< ModelT, SceneT >::occlusion_cloud_
protected

Definition at line 70 of file hypotheses_verification.h.

occlusion_cloud_set_

template<typename ModelT , typename SceneT >
bool pcl::HypothesisVerification< ModelT, SceneT >::occlusion_cloud_set_
protected

Definition at line 72 of file hypotheses_verification.h.

occlusion_thres_

template<typename ModelT , typename SceneT >
float pcl::HypothesisVerification< ModelT, SceneT >::occlusion_thres_
protected

Definition at line 119 of file hypotheses_verification.h.

requires_normals_

template<typename ModelT , typename SceneT >
bool pcl::HypothesisVerification< ModelT, SceneT >::requires_normals_
protected

Definition at line 124 of file hypotheses_verification.h.

resolution_

template<typename ModelT , typename SceneT >
float pcl::HypothesisVerification< ModelT, SceneT >::resolution_
protected

Definition at line 109 of file hypotheses_verification.h.

scene_cloud_

template<typename ModelT , typename SceneT >
pcl::PointCloud<SceneT>::ConstPtr pcl::HypothesisVerification< ModelT, SceneT >::scene_cloud_
protected

Definition at line 65 of file hypotheses_verification.h.

scene_cloud_downsampled_

template<typename ModelT , typename SceneT >
pcl::PointCloud<SceneT>::Ptr pcl::HypothesisVerification< ModelT, SceneT >::scene_cloud_downsampled_
protected

Definition at line 77 of file hypotheses_verification.h.

scene_downsampled_tree_

template<typename ModelT , typename SceneT >
pcl::search::KdTree<SceneT>::Ptr pcl::HypothesisVerification< ModelT, SceneT >::scene_downsampled_tree_
protected

Definition at line 82 of file hypotheses_verification.h.

visible_models_

template<typename ModelT , typename SceneT >
std::vector<typename pcl::PointCloud<ModelT>::ConstPtr> pcl::HypothesisVerification< ModelT, SceneT >::visible_models_
protected

Definition at line 89 of file hypotheses_verification.h.

visible_normal_models_

template<typename ModelT , typename SceneT >
std::vector<typename pcl::PointCloud<pcl::Normal>::ConstPtr> pcl::HypothesisVerification< ModelT, SceneT >::visible_normal_models_
protected

Definition at line 91 of file hypotheses_verification.h.

zbuffer_scene_resolution_

template<typename ModelT , typename SceneT >
int pcl::HypothesisVerification< ModelT, SceneT >::zbuffer_scene_resolution_
protected

Definition at line 101 of file hypotheses_verification.h.

zbuffer_self_occlusion_resolution_

template<typename ModelT , typename SceneT >
int pcl::HypothesisVerification< ModelT, SceneT >::zbuffer_self_occlusion_resolution_
protected

Definition at line 105 of file hypotheses_verification.h.

The documentation for this class was generated from the following file:

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_hypothesis_verification.html