pcl::GlobalHypothesesVerification< ModelT, SceneT > Class Template Reference

A hypothesis verification method proposed in "A Global Hypotheses Verification Method for 3D Object Recognition", A. More...

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

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

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

Public Member Functions
	GlobalHypothesesVerification ()
void	verify () override
void	setResolutionOccupancyGrid (float r)
void	setRadiusNormals (float r)
void	setMaxIterations (int i)
void	setInitialTemp (float t)
void	setRegularizer (float r)
void	setRadiusClutter (float r)
void	setClutterRegularizer (float cr)
void	setDetectClutter (bool d)
Public Member Functions inherited from pcl::HypothesisVerification< ModelT, SceneT >
	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)

Additional Inherited Members
Protected Attributes inherited from pcl::HypothesisVerification< ModelT, SceneT >
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::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 35 of file hv_go.h.

Constructor & Destructor Documentation

GlobalHypothesesVerification()

template<typename ModelT , typename SceneT >

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

inline

Definition at line 443 of file hv_go.h.

Member Function Documentation

setClutterRegularizer()

template<typename ModelT , typename SceneT >

void pcl::GlobalHypothesesVerification< ModelT, SceneT >::setClutterRegularizer ( float cr )

inline

Definition at line 490 of file hv_go.h.

setDetectClutter()

template<typename ModelT , typename SceneT >

void pcl::GlobalHypothesesVerification< ModelT, SceneT >::setDetectClutter ( bool d )

inline

Definition at line 495 of file hv_go.h.

setInitialTemp()

template<typename ModelT , typename SceneT >

void pcl::GlobalHypothesesVerification< ModelT, SceneT >::setInitialTemp ( float t )

inline

Definition at line 475 of file hv_go.h.

setMaxIterations()

template<typename ModelT , typename SceneT >

void pcl::GlobalHypothesesVerification< ModelT, SceneT >::setMaxIterations ( int i )

inline

Definition at line 470 of file hv_go.h.

setRadiusClutter()

template<typename ModelT , typename SceneT >

void pcl::GlobalHypothesesVerification< ModelT, SceneT >::setRadiusClutter ( float r )

inline

Definition at line 485 of file hv_go.h.

setRadiusNormals()

template<typename ModelT , typename SceneT >

void pcl::GlobalHypothesesVerification< ModelT, SceneT >::setRadiusNormals ( float r )

inline

Definition at line 465 of file hv_go.h.

setRegularizer()

template<typename ModelT , typename SceneT >

void pcl::GlobalHypothesesVerification< ModelT, SceneT >::setRegularizer ( float r )

inline

Definition at line 480 of file hv_go.h.

setResolutionOccupancyGrid()

template<typename ModelT , typename SceneT >

void pcl::GlobalHypothesesVerification< ModelT, SceneT >::setResolutionOccupancyGrid ( float r )

inline

Definition at line 460 of file hv_go.h.

verify()

template<typename ModelT , typename SceneT >

void pcl::GlobalHypothesesVerification< ModelT, SceneT >::verify ( )

overridevirtual

Implements pcl::HypothesisVerification< ModelT, SceneT >.

Definition at line 475 of file hv_go.hpp.

References pcl::ConstCloudIterator< PointT >::size().

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

• pcl/recognition/hv/hv_go.h
• pcl/recognition/impl/hv/hv_go.hpp