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

A greedy hypothesis verification method. More...

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

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

Public Member Functions

 GreedyVerification (float reg=1.5f)
 Constructor. More...
 
void verify ()
 Starts verification. More...
 
- 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::GreedyVerification< ModelT, SceneT >

A greedy hypothesis verification method.

Author
Aitor Aldoma

Definition at line 52 of file greedy_verification.h.

Constructor & Destructor Documentation

template<typename ModelT , typename SceneT >
pcl::GreedyVerification< ModelT, SceneT >::GreedyVerification ( float  reg = 1.5f)
inline

Constructor.

Parameters
[in]regRegularizer value

Definition at line 167 of file greedy_verification.h.

Member Function Documentation

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

Starts verification.

Implements pcl::HypothesisVerification< ModelT, SceneT >.

Definition at line 111 of file greedy_verification.hpp.


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