#include <pcl/recognition/ransac_based/model_library.h>
|
| class |
Model |
| |
Stores some information about the model. More...
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| |
Definition at line 57 of file model_library.h.
HashTable
HashTableCell
node_data_pair_list
PointCloudIn
PointCloudN
ModelLibrary()
| pcl::recognition::ModelLibrary::ModelLibrary | ( | float |
pair_width, |
| | float |
voxel_size, |
| | float |
max_coplanarity_angle = 3.0f *AUX_DEG_TO_RADIANS |
| ) | |
|
This class is used by 'ObjRecRANSAC' to maintain the object models to be recognized.
Normally, you do not need to use this class directly.
~ModelLibrary()
| virtual pcl::recognition::ModelLibrary::~ModelLibrary | ( | |
) | | | inlinevirtual |
addModel()
| bool pcl::recognition::ModelLibrary::addModel | ( | const PointCloudIn & |
points, |
| | const PointCloudN & |
normals, |
| | const std::string & |
object_name, |
| | float |
frac_of_points_for_registration, |
| | void * |
user_data = nullptr |
| ) | |
|
Adds a model to the hash table.
- Parameters
-
| [in] |
points |
represents the model to be added. |
| [in] |
normals |
are the normals at the model points. |
| [in] |
object_name |
is the unique name of the object to be added. |
| [in] |
frac_of_points_for_registration |
is the number of points used for fast ICP registration prior to hypothesis testing |
| [in] |
user_data |
is a pointer to some data (can be NULL) |
Returns true if model successfully added and false otherwise (e.g., if object_name is not unique).
addToHashTable()
Returns true if the oriented point pair was added to the hash table and false otherwise.
clear()
| void pcl::recognition::ModelLibrary::clear | ( | |
) | | | protected |
Removes all models from the library and destroys the hash table.
This method should be called upon destroying this object.
getHashTable()
| const HashTable& pcl::recognition::ModelLibrary::getHashTable | ( | |
) | const | | inline |
Returns the hash table built by this instance.
Definition at line 229 of file model_library.h.
getModel()
| const Model* pcl::recognition::ModelLibrary::getModel | ( | const std::string & | name |
) | const | | inline |
getModels()
| const std::map<std::string,Model*>& pcl::recognition::ModelLibrary::getModels | ( | |
) | const | | inline |
ignoreCoplanarPointPairsOff()
| void pcl::recognition::ModelLibrary::ignoreCoplanarPointPairsOff | ( | |
) | | | inline |
Call this method in order to add all point pairs (co-planar as well) to the hash table.
The default behavior is ignoring co-planar points on.
Definition at line 209 of file model_library.h.
ignoreCoplanarPointPairsOn()
| void pcl::recognition::ModelLibrary::ignoreCoplanarPointPairsOn | ( | |
) | | | inline |
Call this method in order NOT to add co-planar point pairs to the hash table.
The default behavior is ignoring co-planar points on.
Definition at line 201 of file model_library.h.
removeAllModels()
| void pcl::recognition::ModelLibrary::removeAllModels | ( | |
) | |
Removes all models from the library and clears the hash table.
setMaxCoplanarityAngleDegrees()
| void pcl::recognition::ModelLibrary::setMaxCoplanarityAngleDegrees | ( | float | max_coplanarity_angle_degrees |
) | | | inline |
This is a threshold.
The larger the value the more point pairs will be considered as co-planar and will be ignored in the off-line model pre-processing and in the online recognition phases. This makes sense only if "ignore co-planar points" is on. Call this method before calling addModel.
Definition at line 193 of file model_library.h.
hash_table_
|
HashTable pcl::recognition::ModelLibrary::hash_table_ | | protected |
ignore_coplanar_opps_
| bool pcl::recognition::ModelLibrary::ignore_coplanar_opps_ | | protected |
max_coplanarity_angle_
| float pcl::recognition::ModelLibrary::max_coplanarity_angle_ | | protected |
models_
| std::map<std::string,Model*> pcl::recognition::ModelLibrary::models_ | | protected |
num_of_cells_
| int pcl::recognition::ModelLibrary::num_of_cells_[3] | | protected |
pair_width_
| float pcl::recognition::ModelLibrary::pair_width_ | | protected |
voxel_size_
| float pcl::recognition::ModelLibrary::voxel_size_ | | protected |
The documentation for this class was generated from the following file: