#include <model_library.h>

Classes
class	Model
	Stores some information about the model. More...
Public Types
typedef VoxelStructure < HashTableCell, float >	HashTable
typedef std::map< const Model *, node_data_pair_list >	HashTableCell
typedef std::list< std::pair < const ORROctree::Node::Data , const ORROctree::Node::Data > >	node_data_pair_list
typedef pcl::PointCloud < pcl::PointXYZ >	PointCloudIn
typedef pcl::PointCloud < pcl::Normal >	PointCloudN
Public Member Functions
bool	addModel (const PointCloudIn &points, const PointCloudN &normals, const std::string &object_name, float frac_of_points_for_registration, void *user_data=NULL)
	Adds a model to the hash table.
const HashTable &	getHashTable () const
	Returns the hash table built by this instance.
const Model *	getModel (const std::string &name) const
const std::map< std::string, Model * > &	getModels () const
void	ignoreCoplanarPointPairsOff ()
void	ignoreCoplanarPointPairsOn ()
	ModelLibrary (float pair_width, float voxel_size, float max_coplanarity_angle=3.0f *AUX_DEG_TO_RADIANS)
	This class is used by 'ObjRecRANSAC' to maintain the object models to be recognized. Normally, you do not need to use this class directly.
void	removeAllModels ()
	Removes all models from the library and clears the hash table.
void	setMaxCoplanarityAngleDegrees (float max_coplanarity_angle_degrees)
	This is a threshold. The larger the value the more point pairs will be considered as co-planar and will be ignored in the off-line model pre-processing and in the online recognition phases. This makes sense only if "ignore co-planar points" is on. Call this method before calling addModel.
virtual	~ModelLibrary ()
Protected Member Functions
bool	addToHashTable (Model model, const ORROctree::Node::Data data1, const ORROctree::Node::Data *data2)
	Returns true if the oriented point pair was added to the hash table and false otherwise.
void	clear ()
	Removes all models from the library and destroys the hash table. This method should be called upon destroying this object.
Protected Attributes
HashTable	hash_table_
bool	ignore_coplanar_opps_
float	max_coplanarity_angle_
std::map< std::string, Model * >	models_
int	num_of_cells_ [3]
float	pair_width_
float	voxel_size_

Detailed Description

Definition at line 59 of file model_library.h.

Member Typedef Documentation

typedef VoxelStructure<HashTableCell, float> pcl::recognition::ModelLibrary::HashTable

Definition at line 176 of file model_library.h.

typedef std::map<const Model*, node_data_pair_list> pcl::recognition::ModelLibrary::HashTableCell

Definition at line 175 of file model_library.h.

typedef std::list<std::pair<const ORROctree::Node::Data*, const ORROctree::Node::Data*> > pcl::recognition::ModelLibrary::node_data_pair_list

Definition at line 174 of file model_library.h.

typedef pcl::PointCloud<pcl::PointXYZ> pcl::recognition::ModelLibrary::PointCloudIn

Definition at line 62 of file model_library.h.

typedef pcl::PointCloud<pcl::Normal> pcl::recognition::ModelLibrary::PointCloudN

Definition at line 63 of file model_library.h.

Constructor & Destructor Documentation

ModelLibrary::ModelLibrary	(	float	pair_width,
		float	voxel_size,
		float	max_coplanarity_angle = `3.0f*AUX_DEG_TO_RADIANS`
	)

This class is used by 'ObjRecRANSAC' to maintain the object models to be recognized. Normally, you do not need to use this class directly.

Definition at line 54 of file model_library.cpp.

virtual pcl::recognition::ModelLibrary::~ModelLibrary ( ) [inline, virtual]

Definition at line 182 of file model_library.h.

Member Function Documentation

bool ModelLibrary::addModel	(	const PointCloudIn &	points,
		const PointCloudN &	normals,
		const std::string &	object_name,
		float	frac_of_points_for_registration,
		void *	user_data = `NULL`
	)

Adds a model to the hash table.

Parameters:

[in]	points	represents the model to be added.
[in]	normals	are the normals at the model points.
[in]	object_name	is the unique name of the object to be added.
[in]	num_points_for_registration	is the number of points used for fast ICP registration prior to hypothesis testing
[in]	user_data	is a pointer to some data (can be NULL)

Returns true if model successfully added and false otherwise (e.g., if object_name is not unique).

Definition at line 106 of file model_library.cpp.

bool ModelLibrary::addToHashTable	(	Model *	model,
		const ORROctree::Node::Data *	data1,
		const ORROctree::Node::Data *	data2
	)		`[protected]`

Returns true if the oriented point pair was added to the hash table and false otherwise.

Definition at line 159 of file model_library.cpp.

void ModelLibrary::clear ( ) [protected]

Removes all models from the library and destroys the hash table. This method should be called upon destroying this object.

Definition at line 76 of file model_library.cpp.

const HashTable& pcl::recognition::ModelLibrary::getHashTable ( ) const [inline]

Returns the hash table built by this instance.

Definition at line 231 of file model_library.h.

const Model* pcl::recognition::ModelLibrary::getModel ( const std::string & name ) const [inline]

Definition at line 237 of file model_library.h.

const std::map<std::string,Model*>& pcl::recognition::ModelLibrary::getModels ( ) const [inline]

Definition at line 247 of file model_library.h.

void pcl::recognition::ModelLibrary::ignoreCoplanarPointPairsOff ( ) [inline]

Call this method in order to add all point pairs (co-planar as well) to the hash table. The default behavior is ignoring co-planar points on.

Definition at line 211 of file model_library.h.

void pcl::recognition::ModelLibrary::ignoreCoplanarPointPairsOn ( ) [inline]

Call this method in order NOT to add co-planar point pairs to the hash table. The default behavior is ignoring co-planar points on.

Definition at line 203 of file model_library.h.

void ModelLibrary::removeAllModels ( )

Removes all models from the library and clears the hash table.

Definition at line 87 of file model_library.cpp.

void pcl::recognition::ModelLibrary::setMaxCoplanarityAngleDegrees ( float max_coplanarity_angle_degrees ) [inline]

This is a threshold. The larger the value the more point pairs will be considered as co-planar and will be ignored in the off-line model pre-processing and in the online recognition phases. This makes sense only if "ignore co-planar points" is on. Call this method before calling addModel.

Definition at line 195 of file model_library.h.