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. Papazov and D. Burschka, ACCV 2010. More...

#include <hv_papazov.h>

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

List of all members.

Classes
class	RecognitionModel
Public Member Functions
	PapazovHV ()
void	setConflictThreshold (float t)
void	setPenaltyThreshold (float t)
void	setSupportThreshold (float t)
void	verify ()
Private Types
typedef boost::adjacency_list < boost::vecS, boost::vecS, boost::undirectedS, boost::shared_ptr < RecognitionModel > >	Graph
Private Member Functions
void	buildConflictGraph ()
void	initialize ()
void	nonMaximaSuppresion ()
Private Attributes
Graph	conflict_graph_
float	conflict_threshold_size_
std::vector< int >	explained_by_RM_
std::map< int, boost::shared_ptr < RecognitionModel > >	graph_id_model_map_
float	penalty_threshold_
std::vector< std::vector < boost::shared_ptr < RecognitionModel > > >	points_explained_by_rm_
std::vector< boost::shared_ptr < RecognitionModel > >	recognition_models_
float	support_threshold_

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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 55 of file hv_papazov.h.

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Member Typedef Documentation

template<typename ModelT , typename SceneT >

typedef boost::adjacency_list<boost::vecS, boost::vecS, boost::undirectedS, boost::shared_ptr<RecognitionModel> > pcl::PapazovHV< ModelT, SceneT >::Graph [private]

Definition at line 84 of file hv_papazov.h.

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Constructor & Destructor Documentation

template<typename ModelT , typename SceneT >

pcl::PapazovHV< ModelT, SceneT >::PapazovHV

(

)

[inline]

Definition at line 95 of file hv_papazov.h.

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Member Function Documentation

template<typename ModelT , typename SceneT >

void pcl::PapazovHV< ModelT, SceneT >::buildConflictGraph

(

)

[private]

Definition at line 166 of file hv_papazov.hpp.

template<typename ModelT , typename SceneT >

void pcl::PapazovHV< ModelT, SceneT >::initialize

(

)

[private]

Definition at line 43 of file hv_papazov.hpp.

template<typename ModelT , typename SceneT >

void pcl::PapazovHV< ModelT, SceneT >::nonMaximaSuppresion

(

)

[private]

Definition at line 131 of file hv_papazov.hpp.

template<typename ModelT , typename SceneT >

void pcl::PapazovHV< ModelT, SceneT >::setConflictThreshold

(

float

t

)

[inline]

Definition at line 101 of file hv_papazov.h.

template<typename ModelT , typename SceneT >

void pcl::PapazovHV< ModelT, SceneT >::setPenaltyThreshold

(

float

t

)

[inline]

Definition at line 109 of file hv_papazov.h.

template<typename ModelT , typename SceneT >

void pcl::PapazovHV< ModelT, SceneT >::setSupportThreshold

(

float

t

)

[inline]

Definition at line 105 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.

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Member Data Documentation

template<typename ModelT , typename SceneT >

Graph pcl::PapazovHV< ModelT, SceneT >::conflict_graph_ [private]

Definition at line 85 of file hv_papazov.h.

template<typename ModelT , typename SceneT >

float pcl::PapazovHV< ModelT, SceneT >::conflict_threshold_size_ [private]

Definition at line 65 of file hv_papazov.h.

template<typename ModelT , typename SceneT >

std::vector<int> pcl::PapazovHV< ModelT, SceneT >::explained_by_RM_ [private]

Definition at line 79 of file hv_papazov.h.

template<typename ModelT , typename SceneT >

std::map<int, boost::shared_ptr<RecognitionModel> > pcl::PapazovHV< ModelT, SceneT >::graph_id_model_map_ [private]

Definition at line 82 of file hv_papazov.h.

template<typename ModelT , typename SceneT >

float pcl::PapazovHV< ModelT, SceneT >::penalty_threshold_ [private]

Definition at line 66 of file hv_papazov.h.

template<typename ModelT , typename SceneT >

std::vector< std::vector <boost::shared_ptr<RecognitionModel> > > pcl::PapazovHV< ModelT, SceneT >::points_explained_by_rm_ [private]

Definition at line 81 of file hv_papazov.h.

template<typename ModelT , typename SceneT >

std::vector< boost::shared_ptr<RecognitionModel> > pcl::PapazovHV< ModelT, SceneT >::recognition_models_ [private]

Definition at line 80 of file hv_papazov.h.

template<typename ModelT , typename SceneT >

float pcl::PapazovHV< ModelT, SceneT >::support_threshold_ [private]

Definition at line 67 of file hv_papazov.h.

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

• hv_papazov.h
• hv_papazov.hpp