Point Cloud Library (PCL)  1.9.1-dev
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pcl::GlobalHypothesesVerification< ModelT, SceneT > Class Template Reference

A hypothesis verification method proposed in "A Global Hypotheses Verification Method for 3D Object Recognition", A. More...

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

+ Inheritance diagram for pcl::GlobalHypothesesVerification< ModelT, SceneT >:

Public Member Functions

 GlobalHypothesesVerification ()
 
void verify ()
 
void setResolutionOccupancyGrid (float r)
 
void setRadiusNormals (float r)
 
void setMaxIterations (int i)
 
void setInitialTemp (float t)
 
void setRegularizer (float r)
 
void setRadiusClutter (float r)
 
void setClutterRegularizer (float cr)
 
void setDetectClutter (bool d)
 
- Public Member Functions inherited from pcl::HypothesisVerification< ModelT, SceneT >
 HypothesisVerification ()
 
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)
 

Additional Inherited Members

- Protected Attributes inherited from pcl::HypothesisVerification< ModelT, SceneT >
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::GlobalHypothesesVerification< ModelT, SceneT >

A hypothesis verification method proposed in "A Global Hypotheses Verification Method for 3D Object Recognition", A.

Aldoma and F. Tombari and L. Di Stefano and Markus Vincze, ECCV 2012

Author
Aitor Aldoma

Definition at line 26 of file hv_go.h.

Constructor & Destructor Documentation

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

Definition at line 433 of file hv_go.h.

Member Function Documentation

template<typename ModelT , typename SceneT >
void pcl::GlobalHypothesesVerification< ModelT, SceneT >::setClutterRegularizer ( float  cr)
inline

Definition at line 480 of file hv_go.h.

template<typename ModelT , typename SceneT >
void pcl::GlobalHypothesesVerification< ModelT, SceneT >::setDetectClutter ( bool  d)
inline

Definition at line 485 of file hv_go.h.

template<typename ModelT , typename SceneT >
void pcl::GlobalHypothesesVerification< ModelT, SceneT >::setInitialTemp ( float  t)
inline

Definition at line 465 of file hv_go.h.

template<typename ModelT , typename SceneT >
void pcl::GlobalHypothesesVerification< ModelT, SceneT >::setMaxIterations ( int  i)
inline

Definition at line 460 of file hv_go.h.

template<typename ModelT , typename SceneT >
void pcl::GlobalHypothesesVerification< ModelT, SceneT >::setRadiusClutter ( float  r)
inline

Definition at line 475 of file hv_go.h.

template<typename ModelT , typename SceneT >
void pcl::GlobalHypothesesVerification< ModelT, SceneT >::setRadiusNormals ( float  r)
inline

Definition at line 455 of file hv_go.h.

template<typename ModelT , typename SceneT >
void pcl::GlobalHypothesesVerification< ModelT, SceneT >::setRegularizer ( float  r)
inline

Definition at line 470 of file hv_go.h.

template<typename ModelT , typename SceneT >
void pcl::GlobalHypothesesVerification< ModelT, SceneT >::setResolutionOccupancyGrid ( float  r)
inline

Definition at line 450 of file hv_go.h.

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

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