Point Cloud Library (PCL)
1.9.1-dev
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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>
Public Member Functions | |
PapazovHV () | |
void | setConflictThreshold (float t) |
void | setSupportThreshold (float t) |
void | setPenaltyThreshold (float t) |
void | verify () override |
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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 | |
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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_ |
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 56 of file hv_papazov.h.
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inline |
Definition at line 98 of file hv_papazov.h.
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inline |
Definition at line 104 of file hv_papazov.h.
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inline |
Definition at line 112 of file hv_papazov.h.
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inline |
Definition at line 108 of file hv_papazov.h.
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overridevirtual |
Implements pcl::HypothesisVerification< ModelT, SceneT >.
Definition at line 226 of file hv_papazov.hpp.