point_cloud_library / 1.12.1 / classpcl_1_1recognition_1_1_model_library.html /

#include <pcl/recognition/ransac_based/model_library.h>

Classes
class Model
Stores some information about the model. More...

Public Types
using PointCloudIn = pcl::PointCloud< pcl::PointXYZ >
using PointCloudN = pcl::PointCloud< pcl::Normal >
using node_data_pair_list = std::list< std::pair< const ORROctree::Node::Data *, const ORROctree::Node::Data * > >
using HashTableCell = std::map< const Model *, node_data_pair_list >
using HashTable = VoxelStructure< HashTableCell, float >

Public Member Functions
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. More...
virtual ~ModelLibrary ()
void removeAllModels ()
Removes all models from the library and clears the hash table. More...
void setMaxCoplanarityAngleDegrees (float max_coplanarity_angle_degrees)
This is a threshold. More...
void ignoreCoplanarPointPairsOn ()
Call this method in order NOT to add co-planar point pairs to the hash table. More...
void ignoreCoplanarPointPairsOff ()
Call this method in order to add all point pairs (co-planar as well) to the hash table. More...
bool 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. More...
const HashTable & getHashTable () const
Returns the hash table built by this instance. More...
const Model * getModel (const std::string &name) const
const std::map< std::string, Model * > & getModels () const

Protected Member Functions
void clear ()
Removes all models from the library and destroys the hash table. More...
bool addToHashTable (Model *model, const ORROctree::Node::Data *data1, const ORROctree::Node::Data *data2)
Returns true if the oriented point pair was added to the hash table and false otherwise. More...

Protected Attributes
float pair_width_
float voxel_size_
float max_coplanarity_angle_
bool ignore_coplanar_opps_
std::map< std::string, Model * > models_
HashTable hash_table_
int num_of_cells_ [3]

Detailed Description

Definition at line 57 of file model_library.h.

Member Typedef Documentation

HashTable

using pcl::recognition::ModelLibrary::HashTable = VoxelStructure<HashTableCell, float>

Definition at line 174 of file model_library.h.

HashTableCell

using pcl::recognition::ModelLibrary::HashTableCell = std::map<const Model*, node_data_pair_list>

Definition at line 173 of file model_library.h.

node_data_pair_list

using pcl::recognition::ModelLibrary::node_data_pair_list = std::list<std::pair<const ORROctree::Node::Data*, const ORROctree::Node::Data*> >

Definition at line 172 of file model_library.h.

PointCloudIn

using pcl::recognition::ModelLibrary::PointCloudIn = pcl::PointCloud<pcl::PointXYZ>

Definition at line 60 of file model_library.h.

PointCloudN

using pcl::recognition::ModelLibrary::PointCloudN = pcl::PointCloud<pcl::Normal>

Definition at line 61 of file model_library.h.

Constructor & Destructor Documentation

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 ( )
inlinevirtual

Definition at line 180 of file model_library.h.

Member Function Documentation

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()

bool pcl::recognition::ModelLibrary::addToHashTable ( Model * model,
const ORROctree::Node::Data * data1,
const ORROctree::Node::Data * data2
)
protected

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 229 of file model_library.h.

getModel()

const Model* pcl::recognition::ModelLibrary::getModel ( const std::string & name ) const
inline

Definition at line 235 of file model_library.h.

getModels()

const std::map<std::string,Model*>& pcl::recognition::ModelLibrary::getModels ( ) const
inline

Definition at line 245 of file model_library.h.

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 209 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 201 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 193 of file model_library.h.

Member Data Documentation

hash_table_

HashTable pcl::recognition::ModelLibrary::hash_table_
protected

Definition at line 266 of file model_library.h.

ignore_coplanar_opps_

bool pcl::recognition::ModelLibrary::ignore_coplanar_opps_
protected

Definition at line 263 of file model_library.h.

max_coplanarity_angle_

float pcl::recognition::ModelLibrary::max_coplanarity_angle_
protected

Definition at line 262 of file model_library.h.

models_

std::map<std::string,Model*> pcl::recognition::ModelLibrary::models_
protected

Definition at line 265 of file model_library.h.

num_of_cells_

int pcl::recognition::ModelLibrary::num_of_cells_[3]
protected

Definition at line 267 of file model_library.h.

pair_width_

float pcl::recognition::ModelLibrary::pair_width_
protected

Definition at line 260 of file model_library.h.

voxel_size_

float pcl::recognition::ModelLibrary::voxel_size_
protected

Definition at line 261 of file model_library.h.

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

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1recognition_1_1_model_library.html

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Last Updated 2021-12-29T19:25:09Z