A hypothesis verification method proposed in "A Global Hypotheses Verification Method for 3D Object Recognition", A. Aldoma and F. Tombari and L. Di Stefano and Markus Vincze, ECCV 2012. More...

#include <hv_go.h>

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

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List of all members.

Classes
class	move
class	move_manager
struct	RecognitionModel
class	SAModel
Public Member Functions
	GlobalHypothesesVerification ()
void	setClutterRegularizer (float cr)
void	setDetectClutter (bool d)
void	setInitialTemp (float t)
void	setMaxIterations (int i)
void	setRadiusClutter (float r)
void	setRadiusNormals (float r)
void	setRegularizer (float r)
void	verify ()
Private Types
typedef pcl::NormalEstimation < SceneT, pcl::Normal >	NormalEstimator_
typedef GlobalHypothesesVerification < ModelT, SceneT >	SAOptimizerT
Private Member Functions
bool	addModel (typename pcl::PointCloud< ModelT >::ConstPtr &model, typename pcl::PointCloud< ModelT >::ConstPtr &complete_model, boost::shared_ptr< RecognitionModel > &recog_model)
void	computeClutterCue (boost::shared_ptr< RecognitionModel > &recog_model)
mets::gol_type	evaluateSolution (const std::vector< bool > &active, int changed)
int	getDuplicity ()
int	getDuplicityCM ()
float	getExplainedValue ()
float	getPreviousBadInfo ()
float	getPreviousUnexplainedValue ()
float	getTotalBadInformation (std::vector< boost::shared_ptr< RecognitionModel > > &recog_models)
float	getTotalExplainedInformation (std::vector< int > &explained_, std::vector< float > &explained_by_RM_distance_weighted, int *duplicity_)
float	getUnexplainedInformationInNeighborhood (std::vector< float > &unexplained, std::vector< int > &explained)
void	initialize ()
void	SAOptimize (std::vector< int > &cc_indices, std::vector< bool > &sub_solution)
void	setPreviousBadInfo (float f)
void	setPreviousDuplicity (int v)
void	setPreviousDuplicityCM (int v)
void	setPreviousExplainedValue (float v)
void	setPreviousUnexplainedValue (float v)
void	updateCMDuplicity (std::vector< int > &vec, std::vector< int > &occupancy_vec, float sign)
void	updateExplainedVector (std::vector< int > &vec, std::vector< float > &vec_float, std::vector< int > &explained_, std::vector< float > &explained_by_RM_distance_weighted, float sign)
void	updateUnexplainedVector (std::vector< int > &unexplained_, std::vector< float > &unexplained_distances, std::vector< float > &unexplained_by_RM, std::vector< int > &explained, std::vector< int > &explained_by_RM, float val)
Private Attributes
SAModel	best_seen_
std::vector< std::vector< int > >	cc_
pcl::PointCloud < pcl::PointXYZI >::Ptr	clusters_cloud_
float	clutter_regularizer_
std::vector< int >	complete_cloud_occupancy_by_RM_
bool	detect_clutter_
std::vector< int >	explained_by_RM_
std::vector< float >	explained_by_RM_distance_weighted
std::vector< size_t >	indices_
float	initial_temp_
int	max_iterations_
int	n_cc_
float	previous_bad_info_
int	previous_duplicity_
int	previous_duplicity_complete_models_
float	previous_explained_value
float	previous_unexplained_
float	radius_neighborhood_GO_
float	radius_normals_
std::vector< boost::shared_ptr < RecognitionModel > >	recognition_models_
float	regularizer_
float	res_occupancy_grid_
pcl::PointCloud< pcl::Normal >::Ptr	scene_normals_
std::vector< float >	unexplained_by_RM_neighboorhods
float	w_occupied_multiple_cm_

Detailed Description

template<typename ModelT, typename SceneT>
class pcl::GlobalHypothesesVerification< ModelT, SceneT >

A hypothesis verification method proposed in "A Global Hypotheses Verification Method for 3D Object Recognition", A. Aldoma and F. Tombari and L. Di Stefano and Markus Vincze, ECCV 2012.

Author:: Aitor Aldoma

Definition at line 27 of file hv_go.h.