Point Cloud Library (PCL)
1.7.2
|
Abstract class for hypotheses verification methods. More...
#include <pcl/recognition/hv/hypotheses_verification.h>
Public Member Functions | |
HypothesisVerification () | |
bool | getRequiresNormals () |
void | setResolution (float r) |
void | setOcclusionThreshold (float t) |
void | setInlierThreshold (float r) |
void | getMask (std::vector< bool > &mask) |
void | addCompleteModels (std::vector< typename pcl::PointCloud< ModelT >::ConstPtr > &complete_models) |
void | addNormalsClouds (std::vector< pcl::PointCloud< pcl::Normal >::ConstPtr > &complete_models) |
void | addModels (std::vector< typename pcl::PointCloud< ModelT >::ConstPtr > &models, bool occlusion_reasoning=false) |
void | setSceneCloud (const typename pcl::PointCloud< SceneT >::Ptr &scene_cloud) |
void | setOcclusionCloud (const typename pcl::PointCloud< SceneT >::Ptr &occ_cloud) |
virtual void | verify ()=0 |
Protected Attributes | |
std::vector< bool > | mask_ |
pcl::PointCloud< SceneT >::ConstPtr | scene_cloud_ |
pcl::PointCloud< SceneT >::ConstPtr | occlusion_cloud_ |
bool | occlusion_cloud_set_ |
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_ |
std::vector< typename pcl::PointCloud< ModelT > ::ConstPtr > | complete_models_ |
std::vector< typename pcl::PointCloud< pcl::Normal > ::ConstPtr > | complete_normal_models_ |
int | zbuffer_scene_resolution_ |
int | zbuffer_self_occlusion_resolution_ |
float | resolution_ |
float | inliers_threshold_ |
float | occlusion_thres_ |
bool | requires_normals_ |
bool | normals_set_ |
Abstract class for hypotheses verification methods.
Definition at line 56 of file hypotheses_verification.h.
|
inline |
Definition at line 134 of file hypotheses_verification.h.
|
inline |
Definition at line 195 of file hypotheses_verification.h.
|
inline |
Definition at line 217 of file hypotheses_verification.h.
References pcl::occlusion_reasoning::ZBuffering< ModelT, SceneT >::computeDepthMap(), pcl::copyPointCloud(), and pcl::occlusion_reasoning::ZBuffering< ModelT, SceneT >::filter().
|
inline |
Definition at line 206 of file hypotheses_verification.h.
|
inline |
Definition at line 183 of file hypotheses_verification.h.
|
inline |
Definition at line 146 of file hypotheses_verification.h.
|
inline |
Definition at line 173 of file hypotheses_verification.h.
|
inline |
Definition at line 313 of file hypotheses_verification.h.
|
inline |
Definition at line 164 of file hypotheses_verification.h.
|
inline |
Definition at line 155 of file hypotheses_verification.h.
|
inline |
Definition at line 292 of file hypotheses_verification.h.
References pcl::Filter< PointT >::filter(), pcl::VoxelGrid< PointT >::setDownsampleAllData(), pcl::PCLBase< PointT >::setInputCloud(), and pcl::VoxelGrid< PointT >::setLeafSize().
|
pure virtual |
|
protected |
Definition at line 97 of file hypotheses_verification.h.
|
protected |
Definition at line 99 of file hypotheses_verification.h.
|
protected |
Definition at line 116 of file hypotheses_verification.h.
|
protected |
Definition at line 63 of file hypotheses_verification.h.
|
protected |
Definition at line 131 of file hypotheses_verification.h.
|
protected |
Definition at line 72 of file hypotheses_verification.h.
|
protected |
Definition at line 74 of file hypotheses_verification.h.
|
protected |
Definition at line 121 of file hypotheses_verification.h.
|
protected |
Definition at line 126 of file hypotheses_verification.h.
|
protected |
Definition at line 111 of file hypotheses_verification.h.
|
protected |
Definition at line 67 of file hypotheses_verification.h.
|
protected |
Definition at line 79 of file hypotheses_verification.h.
|
protected |
Definition at line 84 of file hypotheses_verification.h.
|
protected |
Definition at line 91 of file hypotheses_verification.h.
|
protected |
Definition at line 93 of file hypotheses_verification.h.
|
protected |
Definition at line 103 of file hypotheses_verification.h.
|
protected |
Definition at line 107 of file hypotheses_verification.h.