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

A hypothesis verification method proposed in "An Efficient RANSAC for 3D Object Recognition in Noisy and Occluded Scenes", C. More...

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

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

Public Member Functions

 PapazovHV ()
 
void setConflictThreshold (float t)
 
void setSupportThreshold (float t)
 
void setPenaltyThreshold (float t)
 
void verify ()
 
- 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::PapazovHV< ModelT, SceneT >

A hypothesis verification method proposed in "An Efficient RANSAC for 3D Object Recognition in Noisy and Occluded Scenes", C.

Papazov and D. Burschka, ACCV 2010

Author
Aitor Aldoma, Federico Tombari

Definition at line 54 of file hv_papazov.h.

Constructor & Destructor Documentation

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

Definition at line 94 of file hv_papazov.h.

Member Function Documentation

template<typename ModelT , typename SceneT >
void pcl::PapazovHV< ModelT, SceneT >::setConflictThreshold ( float  t)
inline

Definition at line 100 of file hv_papazov.h.

template<typename ModelT , typename SceneT >
void pcl::PapazovHV< ModelT, SceneT >::setPenaltyThreshold ( float  t)
inline

Definition at line 108 of file hv_papazov.h.

template<typename ModelT , typename SceneT >
void pcl::PapazovHV< ModelT, SceneT >::setSupportThreshold ( float  t)
inline

Definition at line 104 of file hv_papazov.h.

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

Implements pcl::HypothesisVerification< ModelT, SceneT >.

Definition at line 226 of file hv_papazov.hpp.

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