Point Cloud Library (PCL)  1.9.1-dev
hv_papazov.h
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36 
37 #pragma once
38 
39 #include <pcl/recognition/boost.h>
40 #include <pcl/pcl_macros.h>
41 #include <pcl/common/common.h>
42 #include <pcl/recognition/hv/hypotheses_verification.h>
43 #include <boost/graph/adjacency_list.hpp>
44 
45 namespace pcl
46 {
47 
48  /** \brief A hypothesis verification method proposed in
49  * "An Efficient RANSAC for 3D Object Recognition in Noisy and Occluded Scenes", C. Papazov and D. Burschka, ACCV 2010
50  * \author Aitor Aldoma, Federico Tombari
51  */
52 
53  template<typename ModelT, typename SceneT>
54  class PCL_EXPORTS PapazovHV : public HypothesisVerification<ModelT, SceneT>
55  {
63 
64  float conflict_threshold_size_;
65  float penalty_threshold_;
66  float support_threshold_;
67 
68  class RecognitionModel
69  {
70  public:
71  std::vector<int> explained_; //indices vector referencing explained_by_RM_
72  typename pcl::PointCloud<ModelT>::Ptr cloud_;
73  typename pcl::PointCloud<ModelT>::Ptr complete_cloud_;
74  int bad_information_;
75  int id_;
76  };
77 
78  typedef boost::shared_ptr<RecognitionModel> RecognitionModelPtr;
79 
80  std::vector<int> explained_by_RM_; //represents the points of scene_cloud_ that are explained by the recognition models
81  std::vector<RecognitionModelPtr> recognition_models_;
82  std::vector<std::vector<RecognitionModelPtr>> points_explained_by_rm_; //if inner size > 1, conflict
83  std::map<int, RecognitionModelPtr> graph_id_model_map_;
84 
85  typedef boost::adjacency_list<boost::vecS, boost::vecS, boost::undirectedS, RecognitionModelPtr> Graph;
86  Graph conflict_graph_;
87 
88  //builds the conflict_graph
89  void buildConflictGraph();
90  //non-maxima suppresion on the conflict graph
91  void nonMaximaSuppresion();
92  //create recognition models
93  void initialize();
94 
95  public:
96  PapazovHV() : HypothesisVerification<ModelT,SceneT>() {
97  support_threshold_ = 0.1f;
98  penalty_threshold_ = 0.1f;
99  conflict_threshold_size_ = 0.02f;
100  }
101 
102  void setConflictThreshold(float t) {
103  conflict_threshold_size_ = t;
104  }
105 
106  void setSupportThreshold(float t) {
107  support_threshold_ = t;
108  }
109 
110  void setPenaltyThreshold(float t) {
111  penalty_threshold_ = t;
112  }
113 
114  //build conflict graph
115  //non-maxima supression
116  void verify() override;
117  };
118 }
119 
120 #ifdef PCL_NO_PRECOMPILE
121 #include <pcl/recognition/impl/hv/hv_papazov.hpp>
122 #endif
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:44
boost::shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:427
void setSupportThreshold(float t)
Definition: hv_papazov.h:106
Abstract class for hypotheses verification methods.
void setPenaltyThreshold(float t)
Definition: hv_papazov.h:110
void setConflictThreshold(float t)
Definition: hv_papazov.h:102
A hypothesis verification method proposed in "An Efficient RANSAC for 3D Object Recognition in Noisy ...
Definition: hv_papazov.h:54