#include <pcl/recognition/ransac_based/model_library.h>
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Model |
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Stores some information about the model. More...
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Definition at line 57 of file model_library.h.
HashTable
HashTableCell
node_data_pair_list
PointCloudIn
PointCloudN
ModelLibrary()
| pcl::recognition::ModelLibrary::ModelLibrary |
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float |
pair_width, |
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float |
voxel_size, |
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float |
max_coplanarity_angle = 3.0f *AUX_DEG_TO_RADIANS |
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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 |
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addModel()
| bool pcl::recognition::ModelLibrary::addModel |
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const PointCloudIn & |
points, |
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const PointCloudN & |
normals, |
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const std::string & |
object_name, |
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float |
frac_of_points_for_registration, |
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void * |
user_data = nullptr |
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Adds a model to the hash table.
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Parameters
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points |
represents the model to be added. |
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normals |
are the normals at the model points. |
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object_name |
is the unique name of the object to be added. |
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frac_of_points_for_registration |
is the number of points used for fast ICP registration prior to hypothesis testing |
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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 |
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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 |
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const |
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Returns the hash table built by this instance.
Definition at line 227 of file model_library.h.
getModel()
| const Model* pcl::recognition::ModelLibrary::getModel |
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const std::string & |
name |
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const |
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getModels()
| const std::map<std::string,Model*>& pcl::recognition::ModelLibrary::getModels |
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const |
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ignoreCoplanarPointPairsOff()
| void pcl::recognition::ModelLibrary::ignoreCoplanarPointPairsOff |
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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 |
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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 |
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Removes all models from the library and clears the hash table.
setMaxCoplanarityAngleDegrees()
| void pcl::recognition::ModelLibrary::setMaxCoplanarityAngleDegrees |
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float |
max_coplanarity_angle_degrees |
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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_ |
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ignore_coplanar_opps_
| bool pcl::recognition::ModelLibrary::ignore_coplanar_opps_ |
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max_coplanarity_angle_
| float pcl::recognition::ModelLibrary::max_coplanarity_angle_ |
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models_
| std::map<std::string,Model*> pcl::recognition::ModelLibrary::models_ |
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num_of_cells_
| int pcl::recognition::ModelLibrary::num_of_cells_[3] |
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pair_width_
| float pcl::recognition::ModelLibrary::pair_width_ |
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voxel_size_
| float pcl::recognition::ModelLibrary::voxel_size_ |
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The documentation for this class was generated from the following file:
