pcl::HypothesisVerification< ModelT, SceneT > Class Template Reference

Abstract class for hypotheses verification methods. More...

#include <hypotheses_verification.h>

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

List of all members.

Public Member Functions
void	addCompleteModels (std::vector< typename pcl::PointCloud< ModelT >::ConstPtr > &complete_models)
void	addModels (std::vector< typename pcl::PointCloud< ModelT >::ConstPtr > &models, bool occlusion_reasoning=false)
void	addNormalsClouds (std::vector< pcl::PointCloud< pcl::Normal >::ConstPtr > &complete_models)
void	getMask (std::vector< bool > &mask)
bool	getRequiresNormals ()
	HypothesisVerification ()
void	setInlierThreshold (float r)
void	setOcclusionCloud (const typename pcl::PointCloud< SceneT >::Ptr &occ_cloud)
void	setOcclusionThreshold (float t)
void	setResolution (float r)
void	setSceneCloud (const typename pcl::PointCloud< SceneT >::Ptr &scene_cloud)
virtual void	verify ()=0
Protected Attributes
std::vector< typename pcl::PointCloud< ModelT > ::ConstPtr >	complete_models_
std::vector< typename pcl::PointCloud< pcl::Normal > ::ConstPtr >	complete_normal_models_
float	inliers_threshold_
std::vector< bool >	mask_
bool	normals_set_
pcl::PointCloud< SceneT >::ConstPtr	occlusion_cloud_
bool	occlusion_cloud_set_
float	occlusion_thres_
bool	requires_normals_
float	resolution_
pcl::PointCloud< SceneT >::ConstPtr	scene_cloud_
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_
int	zbuffer_scene_resolution_
int	zbuffer_self_occlusion_resolution_

---

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 56 of file hypotheses_verification.h.

---

Constructor & Destructor Documentation

template<typename ModelT , typename SceneT >

pcl::HypothesisVerification< ModelT, SceneT >::HypothesisVerification

(

)

[inline]

Definition at line 134 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 195 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]

Definition at line 217 of file hypotheses_verification.h.

template<typename ModelT , typename SceneT >

void pcl::HypothesisVerification< ModelT, SceneT >::addNormalsClouds

(

std::vector< pcl::PointCloud< pcl::Normal >::ConstPtr > &

complete_models

)

[inline]

Definition at line 206 of file hypotheses_verification.h.

template<typename ModelT , typename SceneT >

void pcl::HypothesisVerification< ModelT, SceneT >::getMask

(

std::vector< bool > &

mask

)

[inline]

Definition at line 183 of file hypotheses_verification.h.

template<typename ModelT , typename SceneT >

bool pcl::HypothesisVerification< ModelT, SceneT >::getRequiresNormals

(

)

[inline]

Definition at line 146 of file hypotheses_verification.h.

template<typename ModelT , typename SceneT >

void pcl::HypothesisVerification< ModelT, SceneT >::setInlierThreshold

(

float

r

)

[inline]

Definition at line 173 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 313 of file hypotheses_verification.h.

template<typename ModelT , typename SceneT >

void pcl::HypothesisVerification< ModelT, SceneT >::setOcclusionThreshold

(

float

t

)

[inline]

Definition at line 164 of file hypotheses_verification.h.

template<typename ModelT , typename SceneT >

void pcl::HypothesisVerification< ModelT, SceneT >::setResolution

(

float

r

)

[inline]

Definition at line 155 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]

Definition at line 292 of file hypotheses_verification.h.

template<typename ModelT , typename SceneT >

virtual void pcl::HypothesisVerification< ModelT, SceneT >::verify

(

)

[pure virtual]

Implemented in pcl::GlobalHypothesesVerification< ModelT, SceneT >, pcl::GreedyVerification< ModelT, SceneT >, and pcl::PapazovHV< ModelT, SceneT >.

---

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 97 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 99 of file hypotheses_verification.h.

template<typename ModelT , typename SceneT >

float pcl::HypothesisVerification< ModelT, SceneT >::inliers_threshold_ [protected]

Definition at line 116 of file hypotheses_verification.h.

template<typename ModelT , typename SceneT >

std::vector<bool> pcl::HypothesisVerification< ModelT, SceneT >::mask_ [protected]

Definition at line 63 of file hypotheses_verification.h.

template<typename ModelT , typename SceneT >

bool pcl::HypothesisVerification< ModelT, SceneT >::normals_set_ [protected]

Definition at line 131 of file hypotheses_verification.h.

template<typename ModelT , typename SceneT >

pcl::PointCloud<SceneT>::ConstPtr pcl::HypothesisVerification< ModelT, SceneT >::occlusion_cloud_ [protected]

Definition at line 72 of file hypotheses_verification.h.

template<typename ModelT , typename SceneT >

bool pcl::HypothesisVerification< ModelT, SceneT >::occlusion_cloud_set_ [protected]

Definition at line 74 of file hypotheses_verification.h.

template<typename ModelT , typename SceneT >

float pcl::HypothesisVerification< ModelT, SceneT >::occlusion_thres_ [protected]

Definition at line 121 of file hypotheses_verification.h.

template<typename ModelT , typename SceneT >

bool pcl::HypothesisVerification< ModelT, SceneT >::requires_normals_ [protected]

Definition at line 126 of file hypotheses_verification.h.

template<typename ModelT , typename SceneT >

float pcl::HypothesisVerification< ModelT, SceneT >::resolution_ [protected]

Definition at line 111 of file hypotheses_verification.h.

template<typename ModelT , typename SceneT >

pcl::PointCloud<SceneT>::ConstPtr pcl::HypothesisVerification< ModelT, SceneT >::scene_cloud_ [protected]

Definition at line 67 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 79 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 84 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 91 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 93 of file hypotheses_verification.h.

template<typename ModelT , typename SceneT >

int pcl::HypothesisVerification< ModelT, SceneT >::zbuffer_scene_resolution_ [protected]

Definition at line 103 of file hypotheses_verification.h.

template<typename ModelT , typename SceneT >

int pcl::HypothesisVerification< ModelT, SceneT >::zbuffer_self_occlusion_resolution_ [protected]

Definition at line 107 of file hypotheses_verification.h.

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

• hypotheses_verification.h