Spec-Zone.ru › PointCloudLibrary #include <pcl/recognition/ransac_based/model_library.h >
class
Model
Stores some information about the model. More...
Definition at line 57 of file model_library.h .
HashTable HashTableCell node_data_pair_list PointCloudIn PointCloudN ModelLibrary() pcl::recognition::ModelLibrary::ModelLibrary ( float
pair_width , float
voxel_size , float
max_coplanarity_angle = 3.0f *AUX_DEG_TO_RADIANS )
This class is used by 'ObjRecRANSAC ' to maintain the object models to be recognized.
Normally, you do not need to use this class directly.
~ModelLibrary() virtual pcl::recognition::ModelLibrary::~ModelLibrary ( )
inline virtual
addModel() bool pcl::recognition::ModelLibrary::addModel ( const PointCloudIn &
points , const PointCloudN &
normals , const std::string &
object_name , float
frac_of_points_for_registration , void *
user_data = nullptr )
Adds a model to the hash table.
Parameters
[in]
points
represents the model to be added.
[in]
normals
are the normals at the model points.
[in]
object_name
is the unique name of the object to be added.
[in]
frac_of_points_for_registration
is the number of points used for fast ICP registration prior to hypothesis testing
[in]
user_data
is a pointer to some data (can be NULL)
Returns true if model successfully added and false otherwise (e.g., if object_name is not unique).
addToHashTable()
Returns true if the oriented point pair was added to the hash table and false otherwise.
clear() void pcl::recognition::ModelLibrary::clear ( )
protected
Removes all models from the library and destroys the hash table.
This method should be called upon destroying this object.
getHashTable() const HashTable & pcl::recognition::ModelLibrary::getHashTable ( ) const
inline
Returns the hash table built by this instance.
Definition at line 227 of file model_library.h .
getModel() const Model * pcl::recognition::ModelLibrary::getModel ( const std::string & name ) const
inline
getModels() const std::map<std::string,Model *>& pcl::recognition::ModelLibrary::getModels ( ) const
inline
ignoreCoplanarPointPairsOff() void pcl::recognition::ModelLibrary::ignoreCoplanarPointPairsOff ( )
inline
Call this method in order to add all point pairs (co-planar as well) to the hash table.
The default behavior is ignoring co-planar points on.
Definition at line 207 of file model_library.h .
ignoreCoplanarPointPairsOn() void pcl::recognition::ModelLibrary::ignoreCoplanarPointPairsOn ( )
inline
Call this method in order NOT to add co-planar point pairs to the hash table.
The default behavior is ignoring co-planar points on.
Definition at line 199 of file model_library.h .
removeAllModels() void pcl::recognition::ModelLibrary::removeAllModels ( )
Removes all models from the library and clears the hash table.
setMaxCoplanarityAngleDegrees() void pcl::recognition::ModelLibrary::setMaxCoplanarityAngleDegrees ( float max_coplanarity_angle_degrees )
inline
This is a threshold.
The larger the value the more point pairs will be considered as co-planar and will be ignored in the off-line model pre-processing and in the online recognition phases. This makes sense only if "ignore co-planar points" is on. Call this method before calling addModel.
Definition at line 191 of file model_library.h .
hash_table_
HashTable pcl::recognition::ModelLibrary::hash_table_
protected
ignore_coplanar_opps_ bool pcl::recognition::ModelLibrary::ignore_coplanar_opps_ {true}
protected
max_coplanarity_angle_ float pcl::recognition::ModelLibrary::max_coplanarity_angle_
protected
models_ std::map<std::string,Model *> pcl::recognition::ModelLibrary::models_
protected
num_of_cells_ int pcl::recognition::ModelLibrary::num_of_cells_[3]
protected
pair_width_ float pcl::recognition::ModelLibrary::pair_width_
protected
voxel_size_ float pcl::recognition::ModelLibrary::voxel_size_
protected
