Point Cloud Library (PCL)  1.9.1-dev
List of all members | Public Member Functions | Protected Attributes
pcl::HypothesisVerification< ModelT, SceneT > Class Template Referenceabstract

Abstract class for hypotheses verification methods. More...

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

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

Public Member Functions

 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)
 
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 55 of file hypotheses_verification.h.

Constructor & Destructor Documentation

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

Definition at line 133 of file hypotheses_verification.h.

Member Function Documentation

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

Definition at line 194 of file hypotheses_verification.h.

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

Definition at line 205 of file hypotheses_verification.h.

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

Definition at line 182 of file hypotheses_verification.h.

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

Definition at line 145 of file hypotheses_verification.h.

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

Definition at line 172 of file hypotheses_verification.h.

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

Definition at line 312 of file hypotheses_verification.h.

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

Definition at line 163 of file hypotheses_verification.h.

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

Definition at line 154 of file hypotheses_verification.h.

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

Member Data Documentation

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

Definition at line 96 of file hypotheses_verification.h.

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

Definition at line 98 of file hypotheses_verification.h.

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

Definition at line 115 of file hypotheses_verification.h.

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

Definition at line 62 of file hypotheses_verification.h.

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

Definition at line 130 of file hypotheses_verification.h.

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

Definition at line 71 of file hypotheses_verification.h.

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

Definition at line 73 of file hypotheses_verification.h.

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

Definition at line 120 of file hypotheses_verification.h.

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

Definition at line 125 of file hypotheses_verification.h.

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

Definition at line 110 of file hypotheses_verification.h.

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

Definition at line 66 of file hypotheses_verification.h.

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

Definition at line 78 of file hypotheses_verification.h.

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

Definition at line 83 of file hypotheses_verification.h.

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

Definition at line 90 of file hypotheses_verification.h.

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

Definition at line 92 of file hypotheses_verification.h.

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

Definition at line 102 of file hypotheses_verification.h.

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

Definition at line 106 of file hypotheses_verification.h.


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