Point Cloud Library (PCL)
1.7.2
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A hypothesis verification method proposed in "An Efficient RANSAC for 3D Object Recognition in Noisy and Occluded Scenes", C. More...
#include <pcl/recognition/hv/hv_papazov.h>
Public Member Functions | |
PapazovHV () | |
void | setConflictThreshold (float t) |
void | setSupportThreshold (float t) |
void | setPenaltyThreshold (float t) |
void | verify () |
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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) |
Additional Inherited Members | |
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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_ |
A hypothesis verification method proposed in "An Efficient RANSAC for 3D Object Recognition in Noisy and Occluded Scenes", C.
Papazov and D. Burschka, ACCV 2010
Definition at line 55 of file hv_papazov.h.
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inline |
Definition at line 95 of file hv_papazov.h.
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inline |
Definition at line 101 of file hv_papazov.h.
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inline |
Definition at line 109 of file hv_papazov.h.
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inline |
Definition at line 105 of file hv_papazov.h.
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virtual |
Implements pcl::HypothesisVerification< ModelT, SceneT >.
Definition at line 226 of file hv_papazov.hpp.