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

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 () override

Public Member Functions inherited from pcl::HypothesisVerification< ModelT, SceneT >
	HypothesisVerification ()

virtual	~HypothesisVerification ()=default

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

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

Definition at line 54 of file hv_papazov.h.