Abstract class for hypotheses verification methods. More...

#include <pcl/recognition/hv/hypotheses_verification.h>

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

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

Public Member Functions
	HypothesisVerification ()
virtual	~HypothesisVerification ()=default
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_

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 54 of file hypotheses_verification.h.

Constructor & Destructor Documentation

◆ HypothesisVerification()

template<typename ModelT, typename SceneT>

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

inline

Definition at line 132 of file hypotheses_verification.h.

References inliers_threshold_, normals_set_, occlusion_cloud_set_, occlusion_thres_, requires_normals_, resolution_, zbuffer_scene_resolution_, and zbuffer_self_occlusion_resolution_.

Referenced by pcl::GlobalHypothesesVerification< ModelT, SceneT >::GlobalHypothesesVerification(), pcl::GreedyVerification< ModelT, SceneT >::GreedyVerification(), and pcl::PapazovHV< ModelT, SceneT >::PapazovHV().

◆ ~HypothesisVerification()

template<typename ModelT, typename SceneT>

virtual pcl::HypothesisVerification< ModelT, SceneT >::~HypothesisVerification ( )

virtualdefault

Member Function Documentation

◆ addCompleteModels()

template<typename ModelT, typename SceneT>

void pcl::HypothesisVerification< ModelT, SceneT >::addCompleteModels ( std::vector< typename pcl::PointCloud< ModelT >::ConstPtr > & complete_models )

inline

Definition at line 196 of file hypotheses_verification.h.

References complete_models_.

◆ addModels()

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 218 of file hypotheses_verification.h.

References complete_models_, complete_normal_models_, pcl::occlusion_reasoning::ZBuffering< ModelT, SceneT >::computeDepthMap(), pcl::copyPointCloud(), pcl::occlusion_reasoning::filter(), pcl::occlusion_reasoning::ZBuffering< ModelT, SceneT >::filter(), mask_, normals_set_, occlusion_cloud_, occlusion_cloud_set_, occlusion_thres_, requires_normals_, scene_cloud_, visible_models_, visible_normal_models_, and zbuffer_scene_resolution_.

◆ addNormalsClouds()

template<typename ModelT, typename SceneT>

void pcl::HypothesisVerification< ModelT, SceneT >::addNormalsClouds ( std::vector< pcl::PointCloud< pcl::Normal >::ConstPtr > & complete_models )

inline

Definition at line 207 of file hypotheses_verification.h.

References complete_normal_models_, and normals_set_.

◆ getMask()

template<typename ModelT, typename SceneT>

void pcl::HypothesisVerification< ModelT, SceneT >::getMask ( std::vector< bool > & mask )

inline

Definition at line 184 of file hypotheses_verification.h.

References mask_.

◆ getRequiresNormals()

template<typename ModelT, typename SceneT>

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

inline

Definition at line 147 of file hypotheses_verification.h.

References requires_normals_.

◆ setInlierThreshold()

template<typename ModelT, typename SceneT>

void pcl::HypothesisVerification< ModelT, SceneT >::setInlierThreshold ( float r )

inline

Definition at line 174 of file hypotheses_verification.h.

References inliers_threshold_.

◆ setOcclusionCloud()

template<typename ModelT, typename SceneT>

void pcl::HypothesisVerification< ModelT, SceneT >::setOcclusionCloud ( const typename pcl::PointCloud< SceneT >::Ptr & occ_cloud )

inline

Definition at line 314 of file hypotheses_verification.h.

References occlusion_cloud_, and occlusion_cloud_set_.

◆ setOcclusionThreshold()

template<typename ModelT, typename SceneT>

void pcl::HypothesisVerification< ModelT, SceneT >::setOcclusionThreshold ( float t )

inline

Definition at line 165 of file hypotheses_verification.h.

References occlusion_thres_.

◆ setResolution()

template<typename ModelT, typename SceneT>

void pcl::HypothesisVerification< ModelT, SceneT >::setResolution ( float r )

inline

Definition at line 156 of file hypotheses_verification.h.

References resolution_.

◆ setSceneCloud()

template<typename ModelT, typename SceneT>

void pcl::HypothesisVerification< ModelT, SceneT >::setSceneCloud ( const typename pcl::PointCloud< SceneT >::Ptr & scene_cloud )

inline

Definition at line 293 of file hypotheses_verification.h.

References complete_models_, pcl::Filter< PointT >::filter(), resolution_, scene_cloud_, scene_cloud_downsampled_, scene_downsampled_tree_, pcl::VoxelGrid< PointT >::setDownsampleAllData(), pcl::PCLBase< PointT >::setInputCloud(), pcl::VoxelGrid< PointT >::setLeafSize(), visible_models_, and visible_normal_models_.

◆ verify()

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

◆ complete_models_

template<typename ModelT, typename SceneT>

std::vector<typename pcl::PointCloud<ModelT>::ConstPtr> pcl::HypothesisVerification< ModelT, SceneT >::complete_models_

protected

Definition at line 95 of file hypotheses_verification.h.

Referenced by addCompleteModels(), addModels(), and setSceneCloud().

◆ complete_normal_models_

template<typename ModelT, typename SceneT>

std::vector<typename pcl::PointCloud<pcl::Normal>::ConstPtr> pcl::HypothesisVerification< ModelT, SceneT >::complete_normal_models_

protected

Definition at line 97 of file hypotheses_verification.h.

Referenced by addModels(), and addNormalsClouds().

◆ inliers_threshold_

template<typename ModelT, typename SceneT>

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

protected

Definition at line 114 of file hypotheses_verification.h.

Referenced by HypothesisVerification(), and setInlierThreshold().

◆ mask_

template<typename ModelT, typename SceneT>

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

protected

Definition at line 61 of file hypotheses_verification.h.

Referenced by addModels(), getMask(), pcl::GlobalHypothesesVerification< ModelT, SceneT >::verify(), and pcl::GreedyVerification< ModelT, SceneT >::verify().

◆ normals_set_

template<typename ModelT, typename SceneT>

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

protected

Definition at line 129 of file hypotheses_verification.h.

Referenced by addModels(), addNormalsClouds(), and HypothesisVerification().

◆ occlusion_cloud_

template<typename ModelT, typename SceneT>

pcl::PointCloud<SceneT>::ConstPtr pcl::HypothesisVerification< ModelT, SceneT >::occlusion_cloud_

protected

Definition at line 70 of file hypotheses_verification.h.

Referenced by addModels(), and setOcclusionCloud().

◆ occlusion_cloud_set_

template<typename ModelT, typename SceneT>

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

protected

Definition at line 72 of file hypotheses_verification.h.

Referenced by addModels(), HypothesisVerification(), and setOcclusionCloud().

◆ occlusion_thres_

template<typename ModelT, typename SceneT>

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

protected

Definition at line 119 of file hypotheses_verification.h.

Referenced by addModels(), HypothesisVerification(), and setOcclusionThreshold().

◆ requires_normals_

template<typename ModelT, typename SceneT>

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

protected

Definition at line 124 of file hypotheses_verification.h.

Referenced by addModels(), getRequiresNormals(), and HypothesisVerification().

◆ resolution_

template<typename ModelT, typename SceneT>

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

protected

Definition at line 109 of file hypotheses_verification.h.

Referenced by pcl::GlobalHypothesesVerification< ModelT, SceneT >::GlobalHypothesesVerification(), HypothesisVerification(), setResolution(), and setSceneCloud().

◆ scene_cloud_

template<typename ModelT, typename SceneT>

pcl::PointCloud<SceneT>::ConstPtr pcl::HypothesisVerification< ModelT, SceneT >::scene_cloud_

protected

Definition at line 65 of file hypotheses_verification.h.

Referenced by addModels(), and setSceneCloud().

◆ scene_cloud_downsampled_

template<typename ModelT, typename SceneT>

pcl::PointCloud<SceneT>::Ptr pcl::HypothesisVerification< ModelT, SceneT >::scene_cloud_downsampled_

protected

Definition at line 77 of file hypotheses_verification.h.

Referenced by setSceneCloud().

◆ scene_downsampled_tree_

template<typename ModelT, typename SceneT>

pcl::search::KdTree<SceneT>::Ptr pcl::HypothesisVerification< ModelT, SceneT >::scene_downsampled_tree_

protected

Definition at line 82 of file hypotheses_verification.h.

Referenced by setSceneCloud().

◆ visible_models_

template<typename ModelT, typename SceneT>

std::vector<typename pcl::PointCloud<ModelT>::ConstPtr> pcl::HypothesisVerification< ModelT, SceneT >::visible_models_

protected

Definition at line 89 of file hypotheses_verification.h.

Referenced by addModels(), and setSceneCloud().

◆ visible_normal_models_

template<typename ModelT, typename SceneT>

std::vector<typename pcl::PointCloud<pcl::Normal>::ConstPtr> pcl::HypothesisVerification< ModelT, SceneT >::visible_normal_models_

protected

Definition at line 91 of file hypotheses_verification.h.

Referenced by addModels(), and setSceneCloud().

◆ zbuffer_scene_resolution_

template<typename ModelT, typename SceneT>

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

protected

Definition at line 101 of file hypotheses_verification.h.

Referenced by addModels(), and HypothesisVerification().

◆ zbuffer_self_occlusion_resolution_

template<typename ModelT, typename SceneT>

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

protected

Definition at line 105 of file hypotheses_verification.h.

Referenced by HypothesisVerification().

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

pcl/recognition/hv/hypotheses_verification.h

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ HypothesisVerification()

◆ ~HypothesisVerification()

Member Function Documentation

◆ addCompleteModels()

◆ addModels()

◆ addNormalsClouds()

◆ getMask()

◆ getRequiresNormals()

◆ setInlierThreshold()

◆ setOcclusionCloud()

◆ setOcclusionThreshold()

◆ setResolution()

◆ setSceneCloud()

◆ verify()

Member Data Documentation

◆ complete_models_

◆ complete_normal_models_

◆ inliers_threshold_

◆ mask_

◆ normals_set_

◆ occlusion_cloud_

◆ occlusion_cloud_set_

◆ occlusion_thres_

◆ requires_normals_

◆ resolution_

◆ scene_cloud_

◆ scene_cloud_downsampled_

◆ scene_downsampled_tree_

◆ visible_models_

◆ visible_normal_models_

◆ zbuffer_scene_resolution_

◆ zbuffer_self_occlusion_resolution_